Paper Info
Title
Lyapunov-Based Design of iISS Feedforward Systems with Uncertainty and Noisy Measurements
Abstract
We study the problem of achieving integral input to state stability (iISS) with respect to noise for a class of upper triangular nonlinear systems with uncertainty and measurement noise. We propose a novel step-by-step Lyapunov-based design, consisting of (1) splitting an $n$-dimensional system into $n$ one-dimensional systems, each with its own state, inputs, and measurement, (2) constructing a one-dimensional measurement feedback controller for each one-dimensional system, according to a certainty equivalence principle, and (3) selecting the parameters of these controllers so that their interconnection gives a measurement feedback controller for the $n$-dimensional system. The stability analysis is performed through filtered Lyapunov functions, which are Lyapunov functions with parameters being the output of suitable dynamical filters.
Year
DOI
Venue
2007
10.1137/050631501
SIAM J. Control and Optimization
Keywords
Field
DocType
iiss feedforward systems,stability analysis,lyapunov function,filtered lyapunov function,measurement noise,upper triangular nonlinear system,dimensional system,own state,lyapunov-based design,one-dimensional measurement feedback controller,one-dimensional system,measurement feedback controller,noisy measurements
Lyapunov function,Nonlinear system,Control theory,Nonlinear control,Signal-to-noise ratio,Exponential stability,Lyapunov redesign,Mathematics,Multidimensional systems,Feed forward
Journal
Volume
Issue
ISSN
46
1
0363-0129
Citations 
PageRank 
References 
4
0.57
5
Authors
1
Name
Order
Citations
PageRank
Stefano Battilotti113642.34