Nonlinear robust controller for a class of nonlinear uncertain systems

    Authors

    C. H. Ham; J. Kaloust;R. Johnson

    Comments

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    Abbreviated Journal Title

    IEE Proc.-Control Theory Appl.

    Keywords

    robust control; nonlinear systems; uncertain systems; ULTIMATE BOUNDEDNESS; STABILIZATION; Automation & Control Systems; Engineering, Electrical & Electronic; Instruments & Instrumentation

    Abstract

    The authors present an alternative control design approach for nonlinear uncertain systems that do not satisfy the generalised matching conditions. The control design scheme is a combination of the backstepping design technique, along with a dynamic recursive control design. The controller yields global stability of uniform ultimate boundedness, and requires only the knowledge of the bounding function of the uncertainty along with the system states. The form of the controller is a nonlinear nonhomogenous ordinary differential equation where its solution yields the control to be injected into the system model. This unique feature is recursively structured so that the control is generated in real time as the system solution is computed. The control design will be applied to an air breathing tail controlled vehicle model to demonstrate the applicability of the control design to real world systems.

    Journal Title

    Iee Proceedings-Control Theory and Applications

    Volume

    145

    Issue/Number

    5

    Publication Date

    1-1-1998

    Document Type

    Article

    Language

    English

    First Page

    405

    Last Page

    410

    WOS Identifier

    WOS:000077084300004

    ISSN

    1350-2379

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