Control of discrete time nonlinear systems with a time-varying structure

Authors:
RaúL OrdóñEz;Kevin M. Passino
Affiliations:
Department of Electrical and Computer Engineering, University of Dayton, 300 College Park, Dayton, OH 45469-0226, USA;Department of Electrical Engineering, The Ohio State University, 2015 Neil Ave., Columbus, OH 43210, USA
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

In this paper, we present a control methodology for a class of discrete time nonlinear systems that depend on a possibly exogenous scheduling variable. This class of systems consists of an interpolation of nonlinear dynamic equations in strict feedback form, and it may represent systems with a time-varying nonlinear structure. Moreover, this class of systems is able to represent some cases of gain scheduling control, Takagi-Sugeno fuzzy systems, as well as input-output realizations of nonlinear systems which are approximated via localized linearizations. We present two control theorems, one using what we call a ''global'' approach (akin to traditional backstepping), and a ''local'' approach, our main result, where backstepping is again used but the control law is an interpolation of local control terms. An aircraft wing rock regulation problem with varying angle of attack is used to illustrate and compare the two approaches.