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Robust Output Tracking for Nonlinear Systems with Time varying Uncertainties(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1998年04期
Page:
49-52
Research Field:
Publishing date:

Info

Title:
Robust Output Tracking for Nonlinear Systems with Time varying Uncertainties
Author(s):
Xiang Zhengrong Lu Zhaoxia Chen Qingwei Hu Weili
School of Information, NUST, Nanjing210094
Keywords:
nonlinear systems linearizat ion no nlinear feedback ro bust cont rol robot uncertaint ies
PACS:
TP24,TP273
DOI:
-
Abstract:
T his paper deals with the ro bust t racking cont ro l fo r nonl inear sy stems w ith unknow n unmo delled t ime-vary ing par ameters or disturbances. A design method fo r a robust t racking co nt roller based on the nominal system is pro posed w ith the recursive const ruct ion of a closed-lo op Ly apuno v funct ion. It is show n that all signals w ithin the closedloop sy stem ar e bounded, and adjustable parameters can be turned to satisfy a part icular specification. Finally, the ef fect iveness and r obustness of the proposed cont rol scheme are demo nstr ated by the t racking cont rol for robot contro l systems, the simulaton result s are sat isfactory .

References:

1  Mar ino R, T omei P. Ro bust stabilization of feedback linearizable tim e-var y ing uncerta in nonlinear systems. Automatica , 1993, 29( 1) : 181~ 189
2 Slot ine J J E, Li W. 应用非线性控制. 蔡自兴译. 北京: 国防工业出版社, 1992. 148~153
3 Kanelakopoulos I , Ko koto vic P V, Mo rse A S. Systemat ic design of adapt ive control for feedback linear izable sy st ems. IEEE Tr ans Auto Co ntr , 1991, 36( 11) : 1 241~1 253

Memo

Memo:
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Last Update: 2013-03-29