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Data-driven robust stabilization with robust domain of attraction estimate for nonlinear discrete-time systems
Automatica ( IF 6.4 ) Pub Date : 2020-06-18 , DOI: 10.1016/j.automatica.2020.109031
Yongqiang Li , Chaolun Lu , Zhongsheng Hou , Yuanjing Feng

Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the nonlinearities are significant. However, most existing nonlinear robust control approaches just consider the affine nonlinear nominal model and thereby ignore available information about existing non-affine nonlinearities. When the general nonlinear nominal model is considered, the robust domain of attraction (RDOA) of closed-loops requires extensive investigation because it is hard to achieve the global stabilization. In this paper, we propose a new nonlinear robust control method based on Lyapunov function to stabilize a discrete-time uncertain system and to estimate the RDOA of closed-loops. First, a sufficient condition for robust stabilization of all plants in a plant set and estimation of the RDOA of all closed-loops is proposed. Then, to tackle the non-affine nonlinearities, a data-driven method of estimating the robust negative-definite domains (RNDD) is presented, and based on it the estimation of the RDOA of closed-loops and the resulting controller design are also given.



中文翻译:

非线性离散时间系统的数据驱动鲁棒镇定,具有鲁棒的吸引力估计域

非线性鲁棒控制是通过克服线性鲁棒控制的缺点而实现的,线性鲁棒控制忽略了有关现有非线性的可用信息,并且所得的控制器可能过于保守,尤其是在非线性很重要的情况下。但是,大多数现有的非线性鲁棒控制方法仅考虑仿射非线性标称模型,从而忽略了有关现有非仿射非线性的可用信息。当考虑通用非线性名义模型时,闭环的鲁棒吸引域(RDOA)需要进行广泛研究,因为很难实现全局稳定。在本文中,我们提出了一种基于Lyapunov函数的新型非线性鲁棒控制方法,用于稳定离散时间不确定系统并估计闭环的RDOA。第一,为植物集中所有植物的稳健稳定和所有闭环的RDOA的估计提供了充分的条件。然后,为了解决非仿射非线性问题,提出了一种估计鲁棒负定域(RNDD)的数据驱动方法,并在此基础上给出了闭环RDOA的估计以及所得的控制器设计。 。

更新日期:2020-06-18
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