Robust regulation of a class of nonlinear systems using singular perturbation approach

In this paper, we consider robust regulation of a class of nonlinear systems, via H ∞ controller using singular perturbation approach. First, using normal form equations, we eliminate the nonlinear part of the system matrix of equations of system and transform it to a linear diagonal form. Separatin...

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Bibliographic Details
Main Authors: Amjadifard, R., Yazdanpanah, M. J., Beheshti, M. T. H.
Format: Conference Proceeding
Language:English
Subjects:
Control
Disturbances
Dynamical systems
Dynamics
Eigenvalues and eigenfunctions
H ∞ Controller
Manipulators
Mathematical analysis
Mathematical model
Nonlinear dynamics
Nonlinear systems
Robots
Robust Control
Robustness
Singular perturbation
Singularly Perturbed Systems
Uncertainty
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Summary:In this paper, we consider robust regulation of a class of nonlinear systems, via H ∞ controller using singular perturbation approach. First, using normal form equations, we eliminate the nonlinear part of the system matrix of equations of system and transform it to a linear diagonal form. Separating new equations to slow and fast subsystems, due to the singular perturbation approach and with the assumption of norm-boundedness of the fast dynamics, we can treat them as disturbance and design H ∞ controller for a system with a lower order than the original one that stabilizes the overall closed loop system. The proposed method is applied to a single link, flexible joint robot manipulator.
DOI:10.23919/ECC.2003.7085061