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

Socpus ID

84962019761 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84962019761

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