Robust tracking control of uncertain nonlinear systems with unknown control directions

Authors
Citation
Xd. Ye et Zt. Ding, Robust tracking control of uncertain nonlinear systems with unknown control directions, SYST CONTR, 42(1), 2001, pp. 1-10
Citations number
20
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
SYSTEMS & CONTROL LETTERS
ISSN journal
0167-6911 → ACNP
Volume
42
Issue
1
Year of publication
2001
Pages
1 - 10
Database
ISI
SICI code
0167-6911(20010115)42:1<1:RTCOUN>2.0.ZU;2-0
Abstract
A global robust tracking control design procedure is proposed for a class o f uncertain nonlinear systems. The key point is that the signs of multiplic ative uncertainties, the so-called control directions, are not assumed to b e known a priori. The class of systems can be of arbitrary dynamic order an d the unmatched additive uncertainties need not satisfy the global Lipschit z condition. It is proved that under the proposed control, all closed-loop states are bounded and the tracking error converges to any prescribed small neighborhood of the origin. The results of this paper enlarge the class of uncertain nonlinear systems for which global robust tracking control can b e designed. (C) 2001 Elsevier Science B.V. All rights reserved.