Title
Robust Control Design Technique For Nonlinear Uncertain Systems With Unknown Time Varying Control Direction
Abstract
In this paper, a continuous robust control design scheme is proposed for first-order nonlinear systems that have both nonlinear uncertainties and unknown time varying control directions. The so-called control direction is the multiplier of the control term that effectively represents the direction of motion under any given control. Nonlinear robust control is designed to on-line and continuously identify sign changes of the unknown control direction and to guarantee stability of uniform ultimate boundedness. Robust control requires only three conditions: the nominal system is stable, the control direction is smooth, and the uncertainties are bounded by known functions. Continuity of the proposed robust control is achieved by using a so-called shifting law that changes smoothly the sign of robust control and tracks the change of the control direction. The analysis and design is proceeded using the Lyapunov's direct method.
Publication Date
12-1-1995
Publication Title
Proceedings of the IEEE Conference on Decision and Control
Volume
2
Number of Pages
989-992
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
Copyright Status
Unknown
Socpus ID
0029511065 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0029511065
STARS Citation
Kaloust, Joseph and Qu, Zhihua, "Robust Control Design Technique For Nonlinear Uncertain Systems With Unknown Time Varying Control Direction" (1995). Scopus Export 1990s. 2110.
https://stars.library.ucf.edu/scopus1990/2110