Continuous Robust-Control Design For Nonlinear Uncertain Systems Without A-Priori Knowledge Of Control Direction

    Authors

    J. Kaloust;Z. Qu

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Autom. Control

    Keywords

    Adaptive-Control; Stabilization; Parameters; Automation & Control Systems; Engineering, Electrical & Electronic

    Abstract

    In this paper, a robust control scheme is proposed for a class of nonlinear systems that have not only additive nonlinear uncertainties but also unknown multiplicative signs. These signs are called control directions since they represent effectively the direction of motion under any given control. Except for the unknown control directions, the class of systems satisfy the generalized matching conditions. Nonlinear robust control is designed to identify on-line unknown control directions and to guarantee global stability of uniform ultimate boundedness without the knowledge of nonlinear dynamics except their size bounding functions. It is also shown that the proposed robust control can be made continuous through utilizing the so-called shifting laws that change smoothly and accordingly the signs of robust controls and that, no matter what time constants and gains of the shifting laws are, global stability is always ensured. The analysis and design is done using Lyapunov's direct method.

    Journal Title

    Ieee Transactions on Automatic Control

    Volume

    40

    Issue/Number

    2

    Publication Date

    1-2-1995

    Document Type

    Note

    Language

    English

    First Page

    276

    Last Page

    282

    WOS Identifier

    WOS:A1995QF17100009

    ISSN

    0018-9286

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