Enhanced nonlinear damping for a class of singularly perturbed interconnected nonlinear systems

Title
Enhanced nonlinear damping for a class of singularly perturbed interconnected nonlinear systems
Author
정정주
Keywords
Nonlinear damping; Singularly perturbed system; Interconnected system; Passivity; Lyapunov stability
Issue Date
2016-03
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Citation
AUTOMATICA, v. 65, Page. 36-42
Abstract
In this paper, we propose a method of enhanced nonlinear damping control for a class of singularly perturbed interconnected nonlinear systems (SPINSs). Instead of simply canceling out the interconnection between slow and fast subsystems, the proposed method transforms SPINS into a feedback connection of two output strictly passive subsystems. Then, enhanced nonlinear damping is implemented to improve the transient behavior of slow subsystem. The proposed method provides weighting factors for each tracking error which enable the energy function to be designed to shape the tracking performance for each state. We also design an augmented state observer to estimate unknown disturbances and unmeasurable states. Using a composite Lyapunov function, we prove that the origin of the tracking error dynamics is globally exponentially stable. It is also analyzed that the tracking errors are globally uniformly ultimately bounded for a time-varying bounded disturbance. Experiments were performed to evaluate the tracking performance of the proposed method and our results validate the effectiveness of the proposed method. (C) 2015 Elsevier Ltd. All rights reserved.
URI
http://www.sciencedirect.com/science/article/pii/S0005109815004902?via%3Dihubhttp://hdl.handle.net/20.500.11754/37174
ISSN
0005-1098; 1873-2836
DOI
10.1016/j.automatica.2015.11.026
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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