| Supervision of integral-input-to-state stabilizing controllers * (2007) | |||||||||||||||||
Abstract | |||||||||||||||||
| The subject of this paper is hybrid control of nonlinear systems with large-scale uncertainty. We describe a high-level controller, called a "supervisor", which orchestrates logic-based switching among a family of candidate controllers. We show that in this framework, the problem of controller design at the lower level can be reduced to finding an integral-input-to-state stabilizing control law for an appropriate system with disturbance inputs. Employing the recently introduced "scale-independent hysteresis " switching logic, we prove that in the case of purely parametric uncertainty with unknown parameters taking values in a finite set the switching terminates in finite time and state regulation is achieved. Key words: Nonlinear system; modeling uncertainty; hybrid control; | |||||||||||||||||
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