Positive Uncertain Systems With One-Sided Robust Control

[+] Author and Article Information
Y. H. Chen

The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332

C. Y. Kuo

Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287

J. Dyn. Sys., Meas., Control 119(4), 675-684 (Dec 01, 1997) (10 pages) doi:10.1115/1.2802377 History: Received April 14, 1996; Online December 03, 2007


We consider a control design problem for a class of uncertain systems. The salient features of the problem are fourfold. First, the uncertainty is time-varying. Second, the system is nonlinear. Third, the state is constrained to be only positive. Fourth, the control input may be constrained to be one-sided (i.e., either positive or negative). We start with a state transformation to release the state constraint. A partial sign-definiteness knowledge of the uncertainty is then shown to be critical to meet the control constraint. Three classes of controls are constructed: one for state constraint and two for the additional control constraint. They render the system globally practically stable.

Copyright © 1997 by The American Society of Mechanical Engineers
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