Gain scheduled trajectory stabilization for nonlinear systems

Nicolas Kessler

Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano

Tuesday, January 31, 2023, 11:00 - 11:50

Room 02-012, Georges-Köhler Allee 102, Freiburg 79110, Germany

The method proposed here allows one to systematically design a gain scheduled controller, based on subsequent linearizations along the nominal trajectory, that renders the trajectory asymptotically stable. The approach bounds the uncertainty arising from the linearization process, builds polytopic sets of linear time varying systems covering the nonlinear dynamics along the trajectory, and exploits sufficient conditions for robust stability to attempt the derivation of the desired gain-scheduled controller. Moreover, smooth hand-offs between the scheduled control laws are considered in the analysis, and the method can be used also to check/assess the stability properties obtained with an existing gain-scheduled law.