Title
Continuous Robust Control Design For Nonlinear Uncertain Systems Without A Priori Knowledge Of Control Direction
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. © 1995 IEEE.
Publication Date
1-1-1995
Publication Title
IEEE Transactions on Automatic Control
Volume
40
Issue
2
Number of Pages
276-282
Document Type
Article
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/9.341792
Copyright Status
Unknown
Socpus ID
0029254839 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0029254839
STARS Citation
Kaloust, J. and Qu, Z., "Continuous Robust Control Design For Nonlinear Uncertain Systems Without A Priori Knowledge Of Control Direction" (1995). Scopus Export 1990s. 1876.
https://stars.library.ucf.edu/scopus1990/1876