ROBUST TRAJECTORY TRACKING FOR A CLASS OF UNCERTAIN NONLINEAR SYSTEMS

Autor:	Luigi del Re, E. Gruenbacher
Rok vydání:	2007
Předmět:	Tracking error Nonlinear system Operating point Robustness (computer science) Control theory A priori and a posteriori Inverse control Control engineering Nonlinear control Simple extension Mathematics
Zdroj:	Scopus-Elsevier
ISSN:	1474-6670
DOI:	10.3182/20070822-3-za-2920.00106
Popis:	In this paper we consider the output tracking problem of an uncertain nonlinear system under the action of an inverse control thus making a robustifying feedback component necessary. Conventionally, the robustifying control is designed taking into account an operating point. We present a nonlinear robustifying controller for tracking any trajectories inside its stability range. The design procedure of this nonlinear controller is based on a simple extension of a stabilizing H2 or H∞ controller. If sufficient conditions are satisfied, robustness in terms of the L2 gain from the disturbance input to the tracking error performance variable can be guaranteed and calculated a priori. Finally simulation results verify the proposed method.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::491a8ecd8f895b3ad68ed6df117ef5c0 https://doi.org/10.3182/20070822-3-za-2920.00106 Zobrazit plný text záznamu