Continuous robust tracking controllers for a class of uncertain nonlinear dynamical systems

DOI10.1631/JZUS.2001.0137MaRDI QIDQ2748690zbMATH OpenOpenAlexFDO

Authors Jianbo Hu, Ting Ke, Jian Chu, Xinhai Chen, Hongye Su

Publication date 19 February 2002

Published in Journal of Zhejiang University. Science (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1631/jzus.2001.0137

zbMATH Keywords

asymptotic stabilityfeedback linearizable systemintegratorLyapunov direct methodLyapunov functionrobust trackingtrackingvariable structure

Mathematics Subject Classification ID

Variable structure systems (93B12) Linearizations (93B18) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10)

Review text

The authors propose a robust tracking continuous controller with integrator for a class of uncertain nonlinear input-output feedback linearizable systems based on the combination of a stabilizing Lyapunov function and a variable structure control. First, they choose the function of the tracking error, its derivative, and the integral of the tracking error. For the derivation of a control law, a Lyapunov function is constructed which is quadratic in the function mentioned before. The control law is obtained such that the derivative of the chosen Lyapunov function is less than zero. Such a controller avoids the chattering of a control value and guarantees the uniform ultimate bond and uniform asymptotic stability of the considered system by choosing different gain functions for the controller.

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Cites work

• Adaptive robust control of nonlinear uncertain systems
• Output feedback ultimate boundedness control for uncertain dynamic systems with structured uncertainty
• Proportional and integral control of nonlinear systems
• Reaching conditions for variable structure control with output feedback

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