Title
A Continuous Asymptotic Tracking Control Strategy For A Class Of Uncertain Mimo Nonlinear Systems
Keywords
Adaptive and Robust Control; Lyapunov-based Control; MIMO systems
Abstract
In this paper, a Lyapunov-based continuous tracking control strategy is developed that compensates for uncertainty in a class of high-order highly coupled multi-input multi-output (MIMO) nonlinear systems with up to three degrees of freedom. Based on mild assumptions on the structure of the system nonlinearities and the high frequency gain matrix, the controller is shown to be semi-globally asymptotically stable under full-state feedback. The control design, which is robust and adaptive, does not rely on bounds for the estimated parameters.
Publication Date
2-8-2015
Publication Title
Proceedings of the IEEE Conference on Decision and Control
Volume
54rd IEEE Conference on Decision and Control,CDC 2015
Number of Pages
6209-6214
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/CDC.2015.7403196
Copyright Status
Unknown
Socpus ID
84962019761 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/84962019761
STARS Citation
Zhang, K.; Wang, Z.; and Behal, A., "A Continuous Asymptotic Tracking Control Strategy For A Class Of Uncertain Mimo Nonlinear Systems" (2015). Scopus Export 2015-2019. 2025.
https://stars.library.ucf.edu/scopus2015/2025