Adaptive practical output tracking control for high-order nonlinear uncertain systems

被引：48
作者：
School of Control Science and Engineering, Shandong University, Jinan 250061, China [1 ]
机构：
[1] School of Control Science and Engineering, Shandong University
来源：
Zidonghua Xuebao | 2008年 / 8卷 / 984-988期
基金：
中国国家自然科学基金;
关键词：
Adaptive control; Adding a power integrator; Practical output tracking; Unknown control coefficients;
D O I：
10.3724/SP.J.1004.2008.00984
中图分类号：
学科分类号：
摘要：
The problem of adaptive practical output tracking control is studied for a class of high-order nonlinear uncertain systems, which has been investigated under the assumption that the lower bounds of the unknown control coefficients are exactly known. Based on the idea of the new robust adaptive control and the continuous stabilization, this assumption is successfully removed. By means of adding a power integrator, a systematic approach is developed to construct a continuous adaptive practical output tracking controller, which guarantees that all the states of the closed-loop system are globally stable, while the tracking error can be bounded by any given positive number after a finite time. Finally, a simulation example is given to illustrate the correctness of the theoretical results.
引用
收藏
页码：984 / 988
页数：4
相关论文
共 14 条
  • [1] Isidori A., Byrnes C.I., Output regulation of nonlinear system, IEEE Transactions on Automatic Control, 35, 2, pp. 131-140, (1990)
  • [2] Byrnes C.I., Psicoli F.D., Isidori A., Output Regulation of Uncertain Nonlinear Systems, (1997)
  • [3] Lin W., Qian C.J., Adding one power integrator: A tool for global stabilization of high-order lower-triangular systems, Systems and Control Letters, 39, 5, pp. 339-351, (2000)
  • [4] Qian C.J., Lin W., Non-Lipschitz continuous stabilizers for nonlinear systems with uncontrollable unstable linearization, Systems and Control Letters, 42, 3, pp. 185-200, (2001)
  • [5] Qian C.J., Lin W., A continuous feedback approach to global strong stabilization of nonlinear systems, IEEE Transactions on Automatic Control, 46, 7, pp. 1061-1079, (2001)
  • [6] Sun Z.-Y., Liu Y.-G., State-feedback stabilizing control design for a class of high-order nonlinear systems with unknown but identical virtual control coefficients, Acta Automatica Sinica, 33, 3, pp. 331-334, (2007)
  • [7] Huang J., Asymptotic tracking and disturbance rejection in uncertain nonlinear systems, IEEE Transactions on Automatic Control, 40, 6, pp. 1118-1122, (1995)
  • [8] Khalil H.K., Robust servomechanism output feedback controller for feedback linearizable system, Automatica, 30, 10, pp. 1587-1599, (1994)
  • [9] Marconi L., Isidori A., Mixed internal model-based and feedforward control for robust tracking in nonlinear systems, Automatica, 36, 7, pp. 993-1000, (2000)
  • [10] Qian C.J., Lin W., Practical output tracking of nonlinear systems with uncontrollable unstable linearization, IEEE Transactions on Automatic Control, 47, 1, pp. 21-36, (2002)
12