Switching Logic-based Adaptive Robust Control of Nonlinearly Parameterized Uncertain Systems

被引：0
作者：
MA BoJun FANG YongChun XIAO Xiao Institute of Robotics and Automatic Information System Nankai University Tianjin P R China [1 ,300071 ]
机构：
来源：
自动化学报 | 2007年 / 06期
关键词：
Nonlinear system; switching logic; adaptive robust control; uncertain system;
D O I：
10.16383/j.aas.2007.06.019
中图分类号：
TP273.2 [];
学科分类号：
080201 ; 0835 ;
摘要：
<正>In this paper, a switching logic-based adaptive robust control is proposed for a class of nonlinearly parameterized systems (NPS). Specifically, the controller mainly consists of a robust type term to address the system uncertainty, and a switching logic tuning mechanism to update the involved control gain. The constructed controller achieves a global uniformly ultimate boundedness (GUUB) result for the system errors, and simulation results are included to demonstrate the effectiveness of the control law.
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收藏
页码：668 / 672
页数：5
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