L2-Suboptimal Control for Nonlinear Systems Via Convex Optimization

Analogous to H∞-methods for LTI systems, L2-gain is an important input-output characterization of robustness for nonlinear systems. The HJI can be used to establish L2-gain if an appropriate storage function can be identified. Continuous piecewise affine storage functions for small-signal L2-stability analysis of nonlinear systems have previously been applied to open-loop analysis. Here, they are used to develop a suboptimal controller synthesis method for nonlinear systems that minimizes the local, closed-loop small-signal L2-gain. The method selects a piecewise affine state feedback controller using convex optimization.

Duke Scholars

Author Leila Bridgeman Thomas Lord Department of Mechanical Engineering and Materia ...