Asymptotic Tracking Controller Design for Nonlinear Systems With Guaranteed Performance

This paper mainly focuses on output feedback practical tracking controller design for stochastic nonlinear systems with polynomial function growth conditions. Mostly, there are some studies on output feedback tracking control problem for general nonlinear systems with parametric certainty in existing achievements. Moreover, we extend it to stochastic nonlinear systems with parametric uncertainty and system nonlinear terms are assumed to satisfy polynomial function growth conditions which are more relaxed than linear growth conditions or power growth conditions. Due to the presence of unknown parametric uncertainty, an output feedback practical tracking controller with dynamically updated gains is constructed explicitly so that all the states of the closed-loop systems are globally bounded and the tracking error belongs to arbitrarily small interval after some positive finite time. An example illustrates the efficiency of the theoretical results.

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H ∞ suboptimal tracking controller design for a class of nonlinear systems

International Journal of Control Automation and Systems ◽

10.1007/s12555-016-0541-5 ◽

2017 ◽

Vol 15 (5) ◽

pp. 2080-2087

Author(s):

Yazdan Batmani

Keyword(s):

Nonlinear Systems ◽

Controller Design ◽

Tracking Controller

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Robust asymptotic tracking control of a chain of integrator nonlinear systems with input constraint and hysteresis nonlinearity

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331215596565 ◽

2016 ◽

Vol 38 (12) ◽

pp. 1500-1508 ◽

Cited By ~ 5

Author(s):

Zhenle Dong ◽

Jianyong Yao ◽

Dawei Ma

Keyword(s):

Nonlinear Systems ◽

Tracking Control ◽

Controller Design ◽

Input Constraint ◽

Hysteresis Nonlinearity ◽

Asymptotic Tracking ◽

Disturbance Term ◽

A Chain ◽

Constant Slope ◽

Bounded Disturbance

This paper focuses on the problem of tracking control of a chain of integrator nonlinear systems with input constraint and hysteresis nonlinearity. Input constraint, always existing in physical systems, has been proved a source of performance degradation. To handle this issue, an effective hyperbolic saturation function is employed, which is bounded no matter how the disturbances and error signals change. Furthermore, hysteresis nonlinearity, which may also limit the system performance, is modelled as a combination of a linear term with constant slope and a bounded disturbance term, which makes it possible to be integrated in the model based controller design. The robust integral of the sign of error (RISE) control is synthesized to guarantee the asymptotic tracking performance in the presence of parametric uncertainties and unmodelled nonlinearities such as external disturbances and unmodelled hysteresis nonlinearity. The closed-loop stability is proved via Lyapunov analysis. Some simulations are carried out to verify the effectiveness of the proposed controller.

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