An Asymptotically Stable Continuous Robust Controller for a Class of Uncertain MIMO Nonlinear Systems
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Publication:6238973
DOI10.1080/00207721.2015.1039627arXiv1301.5483MaRDI QIDQ6238973FDOQ6238973
E. Zergeroglu, Baris Bidikli, Enver Tatlicioglu, Alper Bayrak
Publication date: 23 January 2013
Abstract: In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in their drift and input matrices. The proposed controller compensates the overall system uncertainties and achieves asymptotic tracking where only the sign of the leading minors of the input gain matrix is assumed to be known. A Lyapunov based argument backed up with an integral inequality is applied to prove stability of the proposed controller and asymptotic convergence of the error signals. Simulation results are presented in order to illustrate the viability of the proposed method.
Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Multivariable systems, multidimensional control systems (93C35)
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