Title

Continuous Robust Control For A Class Of Uncertain Mimo Nonlinear Systems

Keywords

Lyapunov-based Control; Nonlinear Control; Robust Control

Abstract

In this paper, a continuous robust feedback control is designed for a class of high-order multi-input multi-output (MIMO) nonlinear systems with two degrees of freedom containing unstructured nonlinear uncertainties in the drift vector and parametric uncertainties in the high frequency gain matrix, which is allowed to be non-symmetric in general. Given some mild assumptions on the system model, a singularity-free continuous robust tracking control law is designed that is shown to be semi-globally asymptotically stable under full-state feedback through a Lyapunov stability analysis. © 2011 IEEE.

Publication Date

12-1-2011

Publication Title

Proceedings of the IEEE Conference on Decision and Control

Number of Pages

7561-7566

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/CDC.2011.6161166

Socpus ID

84860682820 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84860682820

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