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2E1262 Nonlinear Control: Lyapunov-Based Control Design Methods Exact Feedback Linearization

This document is the notes from Lecture 10 of a course on nonlinear control. It discusses several topics: 1) Designing nonlinear observers to estimate states that cannot be directly measured. 2) The backstepping control design method, which recursively designs controllers for cascaded nonlinear systems. 3) Applying exact feedback linearization to transform a nonlinear system into a linear system through state transformations and feedback, allowing linear control design methods to be used. Examples provided include applying backstepping to stabilize a cascade system and using exact feedback linearization and computed torque control of robotic manipulators.

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Mutaz Ryalat
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132 views27 pages

2E1262 Nonlinear Control: Lyapunov-Based Control Design Methods Exact Feedback Linearization

This document is the notes from Lecture 10 of a course on nonlinear control. It discusses several topics: 1) Designing nonlinear observers to estimate states that cannot be directly measured. 2) The backstepping control design method, which recursively designs controllers for cascaded nonlinear systems. 3) Applying exact feedback linearization to transform a nonlinear system into a linear system through state transformations and feedback, allowing linear control design methods to be used. Examples provided include applying backstepping to stabilize a cascade system and using exact feedback linearization and computed torque control of robotic manipulators.

Uploaded by

Mutaz Ryalat
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 27

2E1262

2006

2E1262 Nonlinear Control


Lecture 10

Lyapunov-based control design methods Exact feedback linearization

Lecture 10

2E1262

2006

Todays Goal
You should be able to

Design nonlinear observers Design controllers based on back-stepping Apply exact feedback linearization

Lecture 10

2E1262

2006

Output Feedback and State Feedback


x = f (x, u) y = h(x)
Output feedback: Find u

= k(y) such that the closed-loop system

x = f x, k h(x)
has nice properties. State feedback: Find u

= (x) such that x = f (x, (x))

has nice properties.

k and may include dynamics.


Lecture 10 3

2E1262

2006

Nonlinear Controllers
Nonlinear dynamical controller: z = a(z, y), u = c(z) Linear dynamics, static nonlinearity: z = Az + By , u = c(z) Linear controller: z = Az + By , u = Cz

Lecture 10

2E1262

2006

Nonlinear Observers
What if x is not measurable?

x = f (x, u), y = h(x)


Simplest observer

x = f (x, u) x = f (x, u) + K(y h(x))

Correction, as in linear case,

Choices of K

Linearize f at x0 , nd K for the linearisation Linearize f at x(t), nd K = K(x) for the linearisation
Second case is called Extended Kalman Filter
Lecture 10 5

2E1262

2006

Lyapunov-Based Control Design Methods


x = f (x, u) Find stabilizing state feedback u = u(x) Verify stability through Lyapunov function Methods depend on structure of f
Here we limit discussion to Back-stepping control design, which require certain f discussed later.

Lecture 10

2E1262

2006

Back-Stepping Control Design


We want to design a state feedback u

= u(x) that stabilizes


(1)

x1 = f (x1 ) + g(x1 )x2 x2 = u


at x

= 0 with f (0) = 0.

Idea: See the system as a cascade connection. Design controller rst for the inner loop and then for the outer.

x2

g(x1 ) f ()

x1

Lecture 10

2E1262

2006

Suppose the partial system

x1 = f (x1 ) + g(x1 ) v
can be stabilized by v = V1 = V1 (x1 ) such that

(x1 ) and there exists Lyapunov fcn W (x1 )

1 (x1 ) = dV1 f (x1 ) + g(x1 )(x1 ) V dx1


for some positive denite function W .

Lecture 10

2E1262

2006

The Trick
Equation (1) can be rewritten as

x1 = f (x1 ) + g(x1 )(x1 ) + g(x1 )[x2 (x1 )] x2 = u


u x2 (x1 ) g(x1 ) f + g x1

Lecture 10

2E1262

2006

Introduce new state

= x2 (x1 ) and control v = u :

x1 = f (x1 ) + g(x1 )(x1 ) + g(x1 ) =v


where

1 ) = d x1 = d f (x1 ) + g(x1 )x2 (x dx1 dx1


u g(x1 ) f + g x1

(x1 )

Lecture 10

10

2E1262

2006

Consider V2 (x1 , x2 )

= V1 (x1 ) + 2 /2. Then,

2 (x1 , x2 ) = dV1 f (x1 ) + g(x1 )(x1 ) + dV1 g(x1 ) + v V dx1 dx1 dV1 g(x1 ) + v W (x1 ) + dx1
Choosing

dV1 v= g(x1 ) k, dx1


gives Hence, x

k>0

V2 (x1 , x2 ) W (x1 ) k 2

= 0 is asymptotically stable for (1) with control law u(x) = (x) + v(x). If V1 radially unbounded, then global stability.
Lecture 10 11

2E1262

2006

Back-Stepping Lemma
Lemma: Let z

= (x1 , . . . , xk1 )T and z = f (z) + g(z)xk xk = u

Assume (0)

= 0, f (0) = 0, z = f (z) + g(z)(z)

stable, and V (z) a Lyapunov fcn (with V d u= f (z) + g(z)xk dz


stabilizes x
Lecture 10

W ). Then,

dV g(z) (xk (z)) dz

= 0 with V (z) + (xk (z))2 /2 being a Lyapunov fcn.


12

2E1262

2006

Strict Feedback Systems


Back-stepping Lemma can be applied to stabilize systems on strict feedback form:

x1 = f1 (x1 ) + g1 (x1 )x2 x2 = f2 (x1 , x2 ) + g2 (x1 , x2 )x3 x3 = f3 (x1 , x2 , x3 ) + g3 (x1 , x2 , x3 )x4


. . .

xn = fn (x1 , . . . , xn ) + gn (x1 , . . . , xn )u
where gk Note:

=0

x1 , . . . , xk do not depend on xk+2 , . . . , xn .

Lecture 10

13

2E1262

2006

2 minute exercise: Give an example of a linear system x = Ax + Bu on strict feedback form.

Lecture 10

14

2E1262

2006

Back-Stepping
Back-Stepping Lemma can be applied recursively to a system

x = f (x) + g(x)u
on strict feedback form. Back-stepping generates stabilizing feedbacks k (x1 , . . . , xk ) (equal to u in Back-Stepping Lemma) and Lyapunov functions

Vk (x1 , . . . , xk ) = Vk1 (x1 , . . . , xk1 ) + [xk k1 ]2 /2


by stepping back from x1 to u (see Khalil pp. 593594 for details). Back-stepping results in the nal state feedback

u = n (x1 , . . . , xn )
Lecture 10 15

2E1262

2006

Example
Design back-stepping controller for

x1 = x2 + x2 , x2 = x3 , x3 = u 1
Step 0 Verify strict feedback form Step 1 Consider rst subsystem

x1 = x2 + 1 (x1 ), x2 = u1 1 = x2 x1 stabilizes the rst equation. With 1 V1 (x1 ) = x2 /2, Back-Stepping Lemma gives 1
where 1 (x1 )

u1 = (2x1 1)(x2 + x2 ) x3 (x2 + x2 + x1 ) = 2 (x1 , x2 ) 1 1 V2 = x2 /2 + (x2 + x2 + x1 )2 /2 1 1


Lecture 10 16

2E1262

2006

Step 2 Applying Back-Stepping Lemma on

x1 = x2 + x2 1 x2 = x3 x3 = u
gives

dV2 d2 u = u2 = f (z) + g(z)xn g(z) (xn 2 (z)) dz dz 2 2 2 V2 = (x1 + x2 ) + x3 (x3 2 (x1 , x2 )) x1 x2 x2


which globally stabilizes the system.

Lecture 10

17

2E1262

2006

Exact Feedback Linearization


Idea: Find state feedback u

= u(x, v) so that nonlinear system

x = f (x) + g(x)u
turns into linear system

x = Ax + Bv
and then apply linear control design method.

Lecture 10

18

2E1262

2006

One-Link Robot
m

m 2 + d + m g cos = u
where d is the viscous damping. The control u

= is the applied torque = u(x) with x = (, )T


19

Design state feedback controller u


Lecture 10

2E1262

2006

Introduce new control variable v and let

u = m 2 v + d + m g cos
Then Choose PD-controller

=v v = v(, ) = kp (ref ) kd

Gives closed-loop system:

+ kd + kp = kp ref
Hence, u

= m 2 [kp ( ref ) kd ] + d + m g cos


20

Lecture 10

2E1262

2006

n-Link Robot
m2
2

2 2 m1 1

M () + C(, ) + G() = u, M C G
Lecture 10

(t), u(t) Rn1

n n inertia matrix, M = M T > 0 n 1 vector of centripetal and Coriolis terms n 1 vector of gravitation terms
21

2E1262

2006

Computed Torque Method


u = M ()v + C(, ) + G() Kp , Kd Rnn v = Kp (ref ) Kd ,
gives closed-loop system

+ Kd + Kp = Kp ref
Note that this is n independent second-order equations. We may choose Kd

= kd I and Kp = kp I .

Lecture 10

22

2E1262

2006

Kp ref

x=f

(, )

C, G

K p , Kd
Remarks:

Accurate model and certain system structure needed Extension: Include ref and ref (reference model)
Lecture 10 23

2E1262

2006

Exact Feedback Linearization


Transform nonlinear system x = f (x) + g(x)u into a linear system z = Az + bv by means of feedback u = (x) + (x)v and/or a change of state variables z = T (x). Then, design a stabilizing state feedback for the linear system.

x=f

Remark: Computed torque method corresponds to exact feedback linearization using only feedback.

Lecture 10

24

2E1262

2006

Example
Design controller based on feedback and state transformation for

x1 = a sin x2 x2 = x2 + u 1
Note we cannot cancel a sin x2 by only using u. Introduce instead

z1 = x1 , z2 = a sin x2
so that

z1 = z2
2 z2 = (z1 + u)a cos x2

Now, feedback linearization is possible by u


Lecture 10

2 = z1 + v/(a cos x2 )
25

2E1262

2006

Feedback linearization leads to

z1 = z2 z2 = v
For example, v = k1 z1 k2 z2 gives closed-loop characteristic polynomial s2 The resulting feedback law is

+ k2 s + k1 .

u=

2 z1

v k1 x1 + k2 a sin x2 2 + = x1 a cos x2 a cos x2

Lecture 10

26

2E1262

2006

Next Lecture
Gain scheduling Nonlinear controllability (How to park a car )

Lecture 10

27

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