Dynamic Inversion for Nonaffine-in-Control Systems via Time-Scale Separation. Part I

Authors:
Naira Hovakimyan;Eugene Lavretsky;Amol Sasane
Affiliations:
Aerospace & Ocean Engineering, Virginia Polytechnic Institute & State University, Blacksburg, USA 24061-0203;The Boeing Company, Huntington Beach, USA 92647;Department of Mathematics, London School of Economics, London, United Kingdom WC2A 2AE
Venue:
Journal of Dynamical and Control Systems
Year:
2007

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Abstract

This paper presents a new method for approximate dynamic inversion of nonaffine-in-control systems via time-scale separation. The control signal is sought as a solution of the "fast" dynamics and is shown to asymptotically stabilize the original nonaffine system. Sufficient conditions are formulated, which satisfy the assumptions of the Tikhonov theorem in the theory of singular perturbations. Several examples illustrate the theoretical results.