CHAPTER 7 ADAPTIVE CONTROL OF A CLASS. OF NONLINEAR SYSTEMS 74 INTRODUCTION tn eecent years there has been a great deal of interest in the use of state Feedback exaty linearize the inpul oui behavior of nonlinear om ‘nol systems for example of the form ¥= sors Baru Pe = OD. yy = yb) oa In (1, ee Rue Ry eR and fg,: Rt RY Also the hs are scalar valued functions from Beto R. The theory of linearization by exact feedback Was developed though the efforts of several research fs, such a5 Singh and Rugh [1972], Freund [1973], Meyer & Cicolant {1580}, Isidon, Keener, Gor-Giong& Monaco [198i) in the continuous time case, Good surveys ae available in Claude (1986), Isidors (1988, 1986] and Byrnes & Isidor: (1984). The discrete time case and sampled dua cases are more involved and are developed in Monaco & ‘Normand:Cyeat [1988], A number of applications of these techniques have Been made. Ther chi drawback however seems 10 be in the fact that they rely om exaet cancellation of aonlinear terms in order 10 get linear input-output Behavior Consequently, if there are errors ia ‘mode! ofthe nonlinear terms, the cancelation is ho Inger exact and ‘Input-output behavior no longer linea. In this chapter, we suggest the 28 Section 7.1 Invoduction 295 use of parameter adaptive contrat o help make more robust the cance! lation of the nonlinear terms when the unceainty in the. nonlinear ‘ecm is parametric. ‘The results of this chapter are based on Set) & Tsidow (1987), ‘The remainder of the chapter is organized as follows: we give @ brief review of linearization theory alongwith the consept of & ‘minimum phase nonlinear sytem in Section 7.2, We discus te adap. lve version of this ontrelsteategy in Section 73 along with it aplia ion tothe adaptive control af rigid robot manipulators, based on Crag, Hsu & Sastry [1987]. Im Scion 74, we cllct some suggestions ff Tuture work, 12_ LINEARIZING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS=A REVIEW 12.1 Basie Theory SISO Case A large class of nonlinear control systems can be made to have linear input-output behavior through a choice of nonlinear sae feedback com olla Consider, at fist, the snglesinput single-output sistem H+ foe) + stm y= heey oa) With «6 IR, fal smooth nonlinear functions. In this ehapter, a smooth funcion’ wil mean an infinitely dierentable Tancion Difereniatingy with respect to time, one cbtains y= Brey Baton > Lyhtx) + bghtsyu 22) here Lyx): R°—~ Rand Lyh(x) = RY R stand for the Lie deriva fines of with respect to fg fespectively. If Lys) is bounded sway from zero for all x, the ‘state Teedback contol lew (of the forms ws abe) + 80e)9) 1 o. w= peta 023) Yelds the linear system (lies from the new input» to) ‘The conto! aw (7.2.3) has the eet of rendering (n~ 1) ofthe sats of296 Adaptive Control of Nonlinear Sytems Chapter 7 (7.2.1) unobservable through appropriate choice of state feedback Inthe instance that ZgMGx) = O meaning Lyh(x) = 0 for all x, lone dierentines (7.22) further t get B= fh) + Wythe 024) In (1.2.4), LPACx) stands for Ly (Lh) (x) and Lybh(s) = by Lh As before, if Ly Lyh(x) is bounded away from zero for all x, the Control iw 1 = pay Hien 029) linearizes the system (7.2.4) 10 yield per More generally, ify isthe smallest integer such tht Ly LJA = 0 for 120... y-2and £4L? is bounded sway from zero, then the ‘onto aw A 028) itp th viele “The procedure described above terminates at some finite ifthe sow Benes Lapa) a tet een th vecors (Hin), ent for all Note that the theory is considerably more complicated and incom. Dlete if Ly LP" isnot identically zero, but is ual to zero for some “aluee of MIMO Case—Statle State Feedback For the mult-input mult-outpt case, we consider square systems (that is systems with as many inputs a5 outputs) of the form = fledraiteduy ++ gsledyy vi = huey Section 2.2 27 Y= ye 27 Here xe RY, weR’, ye RP and fg, are asumed smooth. Now, silerentat hej sh Output y, with respect to time to get 5 = bys B gh 28) Jn (7.2.8), note tht if each of the (Ey ,)(x) = 0, then the inputs do ot appear in (7.28). Define 4, to be the smallest integer such that at lest one of the inputs appears in that is WY = BPH Daya, 029) vith at least one of the Ly (27/°"h) + 0, for some x. Define the xp matrix AG) as bby byte thy Aa) = 210) Fahy Eg ht hy “hen, (7.2.9) may be writen os ye] furan a . + aw cam pe] [erm ”, A(x) © RY is bounded away from singlaiy (meaning that 4 (x) ‘ists forall and fas bounded orm), the sat feedback cote! law298 Adaptive Control of Nonlinear Systems Chapter 7 274) we At ache oy Lh] viel the linear closed oop system . ony [Note that the system of (7.2.13) is ia addition decoupled. ‘Thus, decou- pling is achieved as a by-product of linearization. A happy contequenoe this that a large numberof SISO results ae casly extended To this ‘lass of MIMO systems. Tus, for example, once ineaiation has been Achieved, any further contrl objective such as model matching, pole Placement or wacking ean be easly met. The Tecdhack aw (72.12) is Felesred to a a sai state feedback linearizng conta la MIMO Case~Dynamie State Feedback IF A(x) as defined in (7.2.10) i singular and the dit ter ia (7.2.11) (ie the fst term on the righthand sie) is not inthe range of A(x), Iineariation may sil be achieved by using dynamic state feedback. To ‘cep the notation from proliferating, we review the methods in the cae wen p= 2 (vo inputs, two outputs. (x) then has eank | forall x Using elementary column operations, we may compress A(x) to one Aw) Te) = ancy o ac) 0 with 7G) « RE"? nonsingular matin. Now, dining the new inputs we T'G)u, 7.2.11) reads pm] fara] Janes - +f lan ny Le |” apa, | ” dance Also, (0.2.7) now eeade a8 = f00+ BOI + BOO", 219 Section 2.2 Linearzing Comvol—A Review 209 where (200 4601 = Leven esto) Diterenviatng (7.2.1), and wsing (7.2.15), we get pe] LP hy + Ly LP ham + Lyd iy + Lyd ye? yD) |e ha 6 by kPa + bys + bya fe nated ‘The two large blocks inthe equation canbe condensed to vel prt | setmoe semi] 26 Note the appearance of the contol term is). Specifing Wy is Equivalent to the placement of an integrator before wy, that is 10 the dation of dynamics 10 the controler Now, note that if B(x) is bounded avay from singularity, then the contr le B)] = <2 tevmvermrsetenn [ty] ean ries the Hinarized system ea “i cat ye he contol ew 7.217) dani te feedback, ering and {coun cota I Bx) gle ely oe tay beret om s,m) The poets nls ly may ps and onl ete gh ivr ede ee Des Si & Moog 985 122 Minimum Phase Nonlinear Systems ‘The tinearzing control aw (72.3) when applied tothe system (7.2.1) ‘esl in a first orderinpot output sytem. Consequently, (n= 1) of the original states are rendered unobservable by the sate Teedback, To