Robust Control for Nonlinear Systems Using Passivity-Based Robust Right Coprime Factorization

被引：40
|
作者：
Deng, Mingcong [1 ]
Bu, Ni [1 ]
机构：
[1] Tokyo Univ Agr & Technol, Grad Sch Engn, Koganei, Tokyo 1848588, Japan
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2012年 / 57卷 / 10期
关键词：
Asymptotic tracking; passivity; robust right coprime factorization; robust stability; CONTROL DESIGN;
D O I：
10.1109/TAC.2012.2188426
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The robust control for nonlinear feedback system with unknown perturbations is discussed based on the robust right coprime factorization and passivity property. Firstly, based on passivity property, the right factorization of the perturbed plant is realized. Secondly, a robust control scheme is proposed considering the tracking property for the nonlinear system with nominal plant and perturbed plant. Finally, we show the connection between the passivity and robust right coprime factorization for the obtained nonlinear system. A numerical example is given to show the effectiveness of the proposed design scheme.
引用
收藏
页码：2599 / 2604
页数：6
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