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Download fileNonlinearity estimator-based control of a class of uncertain nonlinear systems
journal contribution
posted on 2019-09-13, 15:05 authored by Jun Yang, Ting Li, Cunjia LiuCunjia Liu, Shihua Li, Wen-Hua ChenWen-Hua ChenThe robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semi-global stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a singlelink manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE Transactions on Automatic ControlVolume
65Issue
5Pages
2230 - 2236Publisher
Institute of Electrical and Electronics Engineers (IEEE)Version
- AM (Accepted Manuscript)
Rights holder
© IEEEPublisher statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Publication date
2019-09-10Copyright date
2019ISSN
0018-9286eISSN
1558-2523Publisher version
Language
- en