Paper Info
Title
Robust minimum-time constrained control of nonlinear discrete-time systems: New results
Abstract
This work deals with the analysis and the design of robust minimum-time control laws for nonlinear discrete-time systems with possibly non robustly controllable target sets. Given a Lipschitz nonlinear transition map with bounded control inputs, in the paper we show that the reachability properties of the target set can be used to assess the existence of a robust positively controllable set which includes the target in its interior. This result is exploited to formulate a minimum-time control scheme with enhanced robustness properties able to ensure the ultimate boundedness of the state-trajectories in presence of bounded uncertainties even in the case in which the target set is not robustly positively controllable.
Year
DOI
Venue
2011
10.1109/CDC.2011.6160528
Decision and Control and European Control Conference
Keywords
Field
DocType
control system synthesis,controllability,discrete time systems,nonlinear control systems,reachability analysis,robust control,time optimal control,uncertain systems,Lipschitz nonlinear transition map,bounded control input,bounded uncertainty,control design,nonlinear discrete-time system,nonrobustly controllable target set,reachability property,robust minimum-time constrained control,robust positively controllable set,state trajectory,ultimate boundedness
Mathematical optimization,Nonlinear system,Controllability,Control theory,Computer science,Robustness (computer science),Reachability,Lipschitz continuity,Discrete time and continuous time,Robust control,Bounded function
Conference
ISSN
ISBN
Citations 
0743-1546 E-ISBN : 978-1-61284-799-3
978-1-61284-799-3
0
PageRank 
References 
Authors
0.34
6
2
Name
Order
Citations
PageRank
Gilberto Pin113617.21
T Parisini2935113.17