Coordinated Feedback and Switching for Robust Control of Hybrid Nonlinear Processes
نویسنده
چکیده
A robust hybrid control strategy, that coordinates feedback and switching, is proposed for a broad class of hybrid nonlinear processes with constrained inputs and uncertain dynamics. The proposed strategy involves the coordinated synthesis, via multiple Lyapunov functions, of a family of bounded robust nonlinear feedback controllers that stabilize the constituent modes of the hybrid system, together with robust switching laws that orchestrate safe transitions between these modes and their respective controllers, in a way that respects input constraints and guarantees stability of the overall switched uncertain closed-loop system. The proposed strategy is illustrated using a chemical process example with switched dynamics, input constraints, and model uncertainty.
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