EML 6934 Spring 2010 Homework #1: Due March 17

Problem 1 x1 x2 x3

= x2 + ax2 + sin(t)x1 1 = x3 = u

where a(t) is a known time-varying signal. Design a controller to stabilize the system. Problem 2 x1 x2

= ax1 + bx2 = u

where a and b are unknown constants and b > 0. Design a controller to stabilize the system. Problem 3 x = t2 x + b sin(x)x + d sin(bx) + u where b is an unknown constant and d(t) is a time-varying signal such that |d(t)| c, where c is a known constant. Design robust, adaptive and robust-adaptive controllers to stabilize the system. Compare the performance of the controllers in terms of stability result and control eort. Problem 4 x = ax + b tanh(x) + u where a, b are unknown constants. Design robust and adaptive controllers to stabilize the system and list all the assumptions in order to design the controllers.

Solutions

Solution 1 Dynamics: x1 x2 x3

= x2 + ax2 + sin(t)x1 1 = x3 = u

Control Design: It is a backstepping problem. Adding and subtracting virtual control input, x1 = x2 + ax2 + sin(t)x1 + x2d x2d . 1 Let The x1 (t) dynamics can be expressed as x1 = ax2 + sin(t)x1 1 x2d . 1 1

1 = x2 x2d .

(1)

Designing the virtual control input as x2d = ax2 + sin(t)x1 + k1 x1 . 1 The closed loop x1 (t) dynamics are

x1 = k1 x1 1 . Dierentiating the virtual control input and adding another virtual control input, 1 1 Let 2 = x3 x3d and the 1 (t) dynamics can be expressed as 1 = 2 (ax2 + 2ax1 + cos(t)x1 + (sin(t) + k1 )(x2 + ax2 + sin(t)x1 )) + x3d . 1 1 Designing x3d (t) as x3d x3d = (ax2 + 2ax1 + cos(t)x1 + (sin(t) + k1 )(x2 + ax2 + sin(t)x1 )) k2 1 + x1 , 1 1 = f (x1 , a, a) k2 1 + x1 = x2 x2d + x3d x3d , = x3 (ax2 + 2ax1 + cos(t)x1 + (sin(t) + k1 )(x2 + ax2 + sin(t)x1 )) + x3d x3d . 1 1

(2)

(3)

where f (x1 , a, a) = (ax2 + 2ax1 + cos(t)x1 + (sin(t) + k1 )(x2 + ax2 + sin(t)x1 )). Substituiting the x3d (t) 1 1 the 1 (t) dynamics can be obtained as 1 = 2 k2 1 + x1 (4) where 2 2 2 2 = = = = x3 x3d , x3 x3d , k2 + x1 , uf 1 k2 k2 + k2 x1 + x1 uf 2 2 1 1 kzk2 2

(5)

Consider a positive denite, radially unbouded, decrescent candidate Lyapunov function V = where z(t) = x1 1 2 T (6)

. Dierentiating with respect to time and using (2), (4) and (5) = x1 x1 + 1 1 + 2 2 , = x1 (k1 x1 1 ) + 1 ( 2 k2 1 + x1 ) 2 + 2 (u f k2 2 k2 1 + k2 x1 + x1 ), 2 2 = k1 x1 k2 1 + 1 2 + 2 + 2 (u f k2 2 k2 1 + k2 x1 + x1 ).

V V

Designing the control input u(t) as

2 u = f + k2 2 + k2 1 k2 x1 x1 1 k3 2

which gives V V = k1 x2 k2 2 k3 2 , 1 1 2

min(k1 , k2 , k3 ) kzk2 .

(7)

From (6) and (7), a Global Exponential stability can be concluded. 2

Solution 2 Dynamics: x1 x2

= ax1 + bx2 = u

Let

Adding and subtracting the virtual control input a x1 = b x1 + x2 = bY + bx2 , b a x1 = b x1 + x2 + bx2d bx2d . b = x2 x2d .

Thus, x1 (t) dynamics can be expressed as x1 = b (Y1 1 + + x2d ) where Y1 (t) = x1 and 1 = a . Designing b x2d = k1 x1 Y1 1 . The closed loop x1 (t) dynamics are

The (t) dynamics can be expressed as ) where Y2 (t) = (k1 + x1 x2

x1 = b Y1 1 + k1 x1 .

(8)

= x2 x2d ,

= u + k1 x1 + Y1 1 + Y1 1 , = u + (k1 + 1 )x1 + Y1 1 , = u + (k1 + 1 )(ax1 + bx2 ) + Y1 1 , = u + Y2 2 + Y1 1 and 2 = a b T

(9)

. Choosing a PD, RU candidate Lyapunov function 1 T 1 + 2 1 1 T 2 . 2 2

V =

1 1 2 1 2 b x1 + + 2 2

Taking the time derivative V V

T T = b1 x1 x1 + + 1 1 + 2 2 , T T = x1 (Y1 1 + k1 x1 ) + (u + Y2 2 + Y1 1 ) + 1 1 + 2 2

Designing u(t) and as (t) u = Y1 1 Y2 2 k2 x1 , = 1 = x1 Y1T , = 2 = Y2T

1 2

(10) (11)

 Substituiting in V (t) we get V V From here, Thus, x1 (t), (t), 1 (t), 2 (t) are bounded. Since 1 (t) and 2 (t) are bounded, the signals 1 (t), 2 (t) L . Integrating Z t (k1 x2 () k2 2 ())d = V (t) V (0) < , 1
0

= x1 (Y1 1 + k1 x1 ) + (Y2 2 k2 x1 ) 1 x1 Y1T 2 Y2T , 2 2 = k1 x1 k2 . V 0.

the signals x1 (t), (t) are square integrable, i.e. x1 (t), (t) L2 . Since, x1 (t), (t), 1 (t), 1 (t), 2 (t) L , the control u(t) L and thus x1 (t) and (t) are bounded. Thus, x1 (t), (t) are U.C. Applying Barbalats lemma we conclude that x1 (t), (t) 0 as t , globally. Solution 3 Dynamics: x = t2 x + b sin(x)x + d sin(bx) + u. Robust Controller Design: Design u(t) as (have to design this way, for this problem, but this is a bad design because you get 0 , but you can prove that this is bounded - try for yourself it is easy!) u = t2 x sgn(x) kx. The closed loop dyanmics are expressed as x = b sin(x)x + d sin(bx) sgn(x) kx. Consider a PD, RU candidate Lyapunov function V = which can be lower and upper bounded as 1 x2 V 2 x2 . Taking time derivative and using the closed loop dynamics in (12) V V V V = = = = xx, x(b sin(x)x + d sin(bx) sgn(x) kx), b sin(x)x2 kx2 + d sin(bx)x sgn(x)x, b sin(x)x2 kx2 + d sin(bx)x |x| . |b| b and using the fact that the signal V (t) can be upper bounded as |d(t)| c 1 2 x 2

(12)

Assuming that b is bounded by some known constant

V 2 kx2 + c |x| |x| . bx 4

Since, k and are design variables, choosing k> b, we get V x2 |x| where = k, b The 2nd term of (13) is always negative, thus V x2 = 2V. The following inequality can be obtained V (t) V (0)e2 . Hence, the equilibrium point is Globally Exponentially Stable. Adaptive Controller: x = t2 x + b sin(x)x + d sin(bx) + u, x = t2 x + Y + d sin(bx) + u. where Y = sin(x)x, Design u(t) as u = t2 x + Y kx. The closed loop dynamics can be expressed as x = Y + d sin(bx) kx where = (t) (t) (t). Consider a PD, RU candidate Lyapunov function V = 1 2 x + 2 1 2 . 2

>c (13)

= c .

= b.

Taking derivative with respect to time and using closed loop dynamics V V V Designing as (t) = xY we get V V V = kx2 + xd sin(bx) + xY xY, 2 = kx + xd sin(bx), = (k )x2 x2 + xd sin(bx)

= xx + , = x(Y + d sin(bx) kx) + ,

. = kx2 + xd sin(bx) + xY +

where k > . Completing the squares V V V V = (k )x2 (x2 xd sin(bx) + d sin(bx) x 2 d2 (k )x2 + , 4 d 0, if |x| p 2 (k ) = (k )x2 d2 sin2 (bx) d2 sin2 (bx) )+ , 4 4 + d2 sin2 (bx) , 4

From here, we can only conclude that the system is Globally Uniformly Stable, and we can show GUUB. Solution 4 x = ax + b tanh(x) + u Robust Controller Design: u = kx sgn(x) x = ax + b tanh(x) kx sgn(x) Assumption: The signals a and b are upper bounded by known constants. Consider a PD, RU candidate Lyapunov function V = Dierentiating with respect to time V V V V Choosing k > a and > b, we get V (k a)x2 , V 2(k a)V, V (t) V (0)e2(ka) . Hence, if the assumption is satised we get Global Exponential stability. Adaptive Controller: x = ax + b tanh(x) + u, x = Y+u where Y = x tanh(x) , = a b T .

1 2 x . 2

= = =

xx, x(ax + b tanh(x) kx sgn(x)), (k a)x2 + b tanh(x)x |x| , (k a)x2 + b |x| |x| .

Assumption: The signals a and b are bounded. Design u(t) as

u = Y kx, x = Y kx. 6

(14) (15)

Choosing a PD, RU candidate Lyapunov function as V = Dierentiating with respect to time V V Designing as (t) = xY T . Substituting back we get V V Hence, we know Thus, x(t) and are bounded i.e.x(t), L . Since, (t) is assumed to be bounded L . Thus, (t) (t) (t) from (14) the control u(t) L . Integrating on both sides, Z
t T = kx2 + xY xY T = kx2 . T = xx + , T = x(Y kx) + .

1 2 x + 2

1 T . 2

V 0.

x2 ()d =

V (t) V (0) . k

Thus, x(t) L2 . From (15), x(t) L . Using Barbalats lemma, x(t) 0 as t , globally.