Autonomous Systems

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata

German University in Cairo

April 2, 2017

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
Consider a nonlinear MIMO system of the form
m
X
ẋ = f (x) + ui gi (x) = f (x) + G (x)u, (1)
i=1

y1 = h1 (x) (2)
..
. (3)
ym = hm (x) (4)
The MIMO system has a vector relative degree (ρ1 , ρ2 , . . . , ρm ) if
the following matrix is nonsingular:
Lg1 Lρf 1 −1 h1 (x) . . . Lgm Lρf 1 −1 h1 (x)
 
 Lg Lρ2 −1 h2 (x) . . . Lg Lρ2 −1 h2 (x) 
 1 f m f
A(x) =  , (5)

.. ..
 . ... . 
Lg1 Lfρm −1 hm (x) . . . Lgm Lfρm −1 hm (x)

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
 Vector Relative Degree

Consider the following mobile robot:    

ẋ cos(θ) 0  
ẏ  =  sin(θ) 0 v , (6)
ω
θ̇ 0 1
     
ẋ cos(θ) 0
ẏ  =  sin(θ)  v + 0 ω, (7)
θ̇ 0 1

Figure: Mobile robot moving along a ẋ = g1 (x)v + g2 (x)ω, (8)

trajectory.
where
   
v (t) and ω(t) denote the linear and cos(θ) 0
angular velocities of the robot, g1 (x) , sin(θ) and g2 (x) , 0 .
  
respectively. 0 1

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
The system can be represented in the form
m
X
ẋ = f (x) + ui gi (x) = 0 + g1 (x)u1 + g2 (x)u2 , (9)
i=1
For trajectory tracking problem, the natural outputs of the system
are
y1 = x and y2 = y , (10)
Therefore,
" #
Lg1 Lfρ1 −1 h1 (x) Lg2 Lρf 1 −1 h1 (x)
A(x) = , (11)
Lg1 Lfρ2 −1 h2 (x) Lg2 Lρf 2 −1 h2 (x)
Let us assume that the relative degree of the system is
(ρ1 , ρ2 ) = (1, 1).
L L0 h (x) Lg2 L0f h1 (x)
   
Lg1 h1 (x) Lg2 h1 (x)
A(x) = g1 f0 1 = ,
Lg1 Lf h2 (x) Lg2 L0f h2 (x) Lg1 h2 (x) Lg2 h2 (x)
(12)
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
 
Lg1 h1 (x) Lg2 h1 (x)
A(x) = , (13)
Lg1 h2 (x) Lg2 h2 (x)

∂h1
Lg1 h1 (x) = g1 (x) = cos θ (14)
∂x
∂h1
Lg2 h1 (x) = g2 (x) = 0 (15)
∂x
∂h2
Lg1 h2 (x) = g1 (x) = sin θ (16)
∂x
∂h2
Lg2 h2 (x) = g2 (x) = 0 (17)
∂x
 
cos θ 0
A(x) = , (18)
sin θ 0
We conclude that A(x) is singular and the relative degree is not
(1, 1). The problem is that the input u1 or v appears in the
derivative of both outputs, while the input u2 (or ω) does not.
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
Let us try to make v appear later in
a higher-order derivative of the
output.

v = ζ (20)
ζ̇ = τ (21)
Figure: Mobile robot.
The new representation of the
 system is
cos θ 0
A(x) = , (19)
sin θ 0
v appears in the derivative of both ẋ = ζ cos θ (22)
outputs. ẏ = ζ sin θ (23)
ω does not appear in the derivative ζ̇ = τ (24)
of any output. θ̇ = ω (25)
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
The new system with the extended state is

ẋ = ζ cos θ (26)
ẏ = ζ sin θ (27)
ζ̇ = τ (28)
θ̇ = ω (29)

In a compact form

ẋ = f (x) + g1 (x)τ + g2 (x)ω (30)

where
       
x ζ cos θ 0 0
y   ζ sin θ  0 0
x= ζ  , f (x) =  0  , g1 (x) = 1 , g2 (x) = 0 (31)
      

θ 0 0 1

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

∂h1
Lg1 h1 (x) = g1 (x) = 0 (32)
∂x
∂h1
Lg2 h1 (x) = g2 (x) = 0 (33)
∂x
∂h2
Lg1 h2 (x) = g1 (x) = 0 (34)
∂x
∂h2
Lg2 h2 (x) = g2 (x) = 0 (35)
∂x
The inputs do not appear in the first order derivative of the
outputs. Let us see the second order derivatives
 
Lg1 Lf h1 (x) Lg2 Lf h1 (x)
A(x) = , (36)
Lg1 Lf h2 (x) Lg2 Lf h2 (x)

First we have to calculate Lf h1 (x) and Lf h2 (x)

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

 
ζ cos θ
   ζ sin θ 
Lf h1 (x) = 1 0 0 0  0  = ζ cos θ
 (37)
0
 
ζ cos θ
   ζ sin θ 
Lf h2 (x) = 0 1 0 0  0  = ζ sin θ
 (38)
0

Now we calculate the entries of A(x)

 
0
  0
Lg1 Lf h1 (x) = 0 0 cos θ −ζ sin θ 1 = cos θ
 (39)
0

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

 
0
  0
Lg2 Lf h1 (x) = 0 0 cos θ −ζ sin θ 0 = −ζ sin θ
 (40)
1
 
0
  0
Lg1 Lf h2 (x) = 0 0 sin θ ζ cos θ 1 = sin θ
 (41)
0
 
0
  0
Lg2 Lf h2 (x) = 0 0 sin θ ζ cos θ 0 = ζ cos θ
 (42)
1

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
Therefore A(x) is given by
 
cos θ −ζ sin θ
A(x) = , |A(x)| = ζ (43)
sin θ ζ cos θ
As long as ζ 6= 0, the matrix A is nonsingular and the relative
degree of the system is (2, 2). We also see that
ρ = ρ1 + ρ2 = 4 = n, where n is the dimension of the extended
system. Now the control system design becomes relatively
straightforward. We device the following control law:
   
τ −1 −ẍd − k1 ėx − k2 ex
= A(x) (44)
ω −ÿd − k3 ėy − k4 ey
where the position error along x- and y -axis are given by
ex = x − xd and ey = y − yd (45)
Furthermore, xd and yd , ẋd and ẏd , ẍd and ÿd are the desired
position, velocity, and acceleration along x- and y -axis,
respectively.
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

Figure: Control of a tricycle mobile robot via dynamic state feedback.

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

Now consider that the control inputs are the spinning velocities of
the first and second wheels ϕ̇1 and ϕ̇2 , respectively.

Figure: Mobile robot moving in a global reference frame.

2r and L denote the diameter of each wheel and the distance

between point P and the wheel, respectively.

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
 Vector Relative Degree
  
cos(θ) − sin(θ) 0 r ϕ̇1 + r ϕ̇2
Consider the following mobile ẋ =  sin(θ) cos(θ) 0  0 ,
robot: r ϕ̇1 r ϕ̇2
L − L
0 0 1
    (46)
r cos(θ) r cos(θ)
ẋ =  r sin(θ)  ϕ̇1 +  r sin(θ)  ϕ̇2 , (47)
r /L −r /L

ẋ = g1 (x)ϕ̇1 + g2 (x)ϕ̇2 (48)

Figure: Mobile robot moving ẋ = g1 (x)ω1 + g2 ω2 , (49)
along a trajectory.
where
ϕ̇1 and ϕ̇2 denote the control 
r cos(θ)
 
r cos(θ)

inputs of the mobile robot. g1 (x) ,  r sin(θ)  and g2 (x) ,  r sin(θ)  .
r /L −r /L
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

First we select the following outputs

 
x
y1 = h1 (x) = x and y2 = h2 (x) = y where x = y 

θ

Again let us assume that the relative degree of the system is

(ρ1 , ρ2 ) = (1, 1).

Lg1 L0f h1 (x) Lg2 L0f h1 (x)

   
Lg1 h1 (x) Lg2 h1 (x)
A(x) = =
Lg1 L0f h2 (x) Lg2 L0f h2 (x) Lg1 h2 (x) Lg2 h2 (x)
 
r cos θ r cos θ
= , (50)
r sin θ r sin θ

We conclude that A(x) is singular and the relative degree is not

(1, 1).

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
Our system is originally in the following form
     
ẋ r cos θω1 r cos θω2
ẋ = ẏ  =  r sin θω1  +  r sin θω2 
r
θ̇ L ω1 − Lr ω2
Let us add the following variable to make ω1 appear later in a
higher-order derivative of the output

ω1 = ζ 1 (51)
ζ̇1 = τ1 (52)

The new representation of the system is

   
ẋ r cos θζ1 + r cos θω2
 ẏ   r sin θζ1 + r sin θω2 
 = 
ζ̇1   τ1 
r r
θ̇ L ζ1 − L ω2

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

     
r cos θζ1 0 r cos θ
 r sin θζ1  0  r sin θ 
ẋ =   0  + 1 τ1 +  0  ω2
    
r
L ζ1 0 − Lr
= f (x) + g1 (x)τ1 + g2 (x)ω1 (53)
 
x
y 
y1 = h1 (x) = x and y2 = h2 (x) = y where x =  
ζ1 
θ
Now we have to calculate Lf h1 (x) and Lf h2 (x)
 
r ζ1 cos θ
   r ζ1 sin θ 
Lf h1 (x) = 1 0 0 0   0  = r ζ1 cos θ
 (54)
r
L ζ1

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

 
r ζ1 cos θ
   r ζ1 sin θ 
Lf h2 (x) = 0 1 0 0  0  = r ζ1 sin θ
 (55)
r
L ζ1
Now we calculate the entries of A(x)
 
0
  0
Lg1 Lf h1 (x) = 0 0 r cos θ −r ζ1 sin θ 1 = r cos θ
 (56)
0
 
r cos θ
   r sin θ  r 2
Lg2 Lf h1 (x) = 0 0 r cos θ −r ζ1 sin θ  0  = L ζ1 sin θ


− Lr
(57)
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

 
0
  0
Lg1 Lf h2 (x) = 0 0 r sin θ r ζ1 cos θ  1 = r sin θ
 (58)
0
 
r cos θ
2
 = − r ζ1 cos θ
   r sin θ 
Lg2 Lf h2 (x) = 0 0 r sin θ r ζ1 cos θ   0  L
− Lr
(59)
Therefore, A(x) is given by
" #
r2 r3
r cos θ L ζ 1 sin θ
A(x) = 2 , |A(x)| = − ζ1 (60)
r sin θ − rL ζ1 cos θ L
As long as ζ1 6= 0, A(x) is nonsingular, and the relative degree of
the system is (2, 2).
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree
Let us now design the control system for the following system:
!  !
r2 r2 2
 
ẍ r cos θ L 1 ζ sin θ τ1 − ζ sin θ
= 2 + r 2L 21
ÿ r sin θ − rL ζ1 cos θ ω2 L ζ1 cos θ
2
! !
r2
− rL ζ1 sin θ
 
r cos θ sin θ
+ ω̇2 + r 2 ω2 + L
r2
ω22
r sin θ L 1ζ cos θ − L cos θ

Select the following control input:

" 2 #  !
r 2
 
τ1 ζ sin θ τb
= A(x)−1 L 1
r 2
2
+ 1 (61)
ω2 − L ζ1 cos θ ω
b2

This control yields

2
! !
r2
− rL ζ1 sin θ
     
ẍ r cos θ sin θ τb
= ω̇2 + r 2 ω2 + L
r2
ω2 + 1
2
ÿ r sin θ L ζ1 cos θ − L cos θ ωb 2
(62)
Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

2
! !
r2
− rL ζ1 sin θ
   
τb1 r cos θ L sin θ
= − ω̇2 − r 2 ω2 − 2 ω22
ω
b2 r sin θ L ζ1 cos θ − rL cos θ
 
ẍd + k1 ėx + k2 ex
− (63)
ÿd + k3 ėy + k4 ey

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Vector Relative Degree

Figure: Control of a tricycle mobile robot via dynamic state feedback.

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree
Thanks

Questions please

Islam S. M. Khalil, Lobna Tarek, and Omar Shehata Vector Relative Degree