Robust control of nonlinear systems in the presence of unknown exogenous dynamics

    Authors

    Z. H. Qu;Y. F. Jin

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Autom. Control

    Keywords

    bounding function; estimation; Lyapunov direct method; nonlinear; uncertainty; observer; robust control; OUTPUT-FEEDBACK CONTROL; STABILIZATION; Automation & Control Systems; Engineering, Electrical & Electronic

    Abstract

    A robust control is designed for a class of uncertain systems, and it is distinct and novel that the proposed control does not require any information of a bounding function on nonlinear uncertainties in the system. Instead, the uncertainties to be compensated for are generated by an exogenous system whose dynamics are either completely unknown or partially unknown. The only requirements on the exogenous system are that its unknown dynamics are bounded by a known function and that its output is bounded. The proposed robust control is based on a nonlinear observer that estimates the uncertainties. It is shown that, under different sets of conditions, local, semiglobal, or global stability of uniform ultimate boundedness or asymptotic stability can be achieved.

    Journal Title

    Ieee Transactions on Automatic Control

    Volume

    48

    Issue/Number

    2

    Publication Date

    1-1-2003

    Document Type

    Article

    Language

    English

    First Page

    336

    Last Page

    343

    WOS Identifier

    WOS:000181099700024

    ISSN

    0018-9286

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