6533b823fe1ef96bd127f629

RESEARCH PRODUCT

Adaptive Tracking Control of Nonlinear Time-Varying Systems with Unknown Control Coefficients and Unknown Time-Varying Parameters

Jing Zhou

subject

VDP::Teknologi: 500Nonlinear systemControl theoryComputer scienceBounded functionBacksteppingComputingMilieux_LEGALASPECTSOFCOMPUTINGTracking (particle physics)Control (linguistics)Stability (probability)Compensation (engineering)

description

This paper investigates the tracking control of a class of strict-feedback uncertain nonlinear systems in the presence of unknown signs of control coefficients and unknown time-varying parameters as well as unknown disturbances. A robust adaptive controller and a new decoupled backstepping approach to stability analysis are developed by constructing a new compensation scheme. By introducing a Nussbaum function and a new type of hyperbolic tangent function, the effects of unknown time-varying parameters and unknown control coefficients are effectively compensated. By using the decoupled backstepping technique, it is proved that under the proposed control, all closed-loop states are uniform ultimate bounded. A numerical example is presented to demonstrate the effectiveness of the proposed control scheme.

yearjournalcountryeditionlanguage
2019-12-012019 IEEE 58th Conference on Decision and Control (CDC)
https://doi.org/10.1109/cdc40024.2019.9029616