Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems

被引：37
|
作者：
Yang, Jun [1 ]
Li, Ting [1 ]
Liu, Cunjia [2 ]
Li, Shihua [1 ]
Chen, Wen-Hua [2 ]
机构：
[1] Southeast Univ, Sch Automat, Minist Educ, Key Lab Measurement & Control CSE, Nanjing 210096, Peoples R China
[2] Loughborough Univ, Dept Aeronaut & Automot Engn, Loughborough LE11 3TU, Leics, England
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2020年 / 65卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Uncertainty; Stability analysis; Closed loop systems; Nonlinear systems; Robust control; Observers; Robustness; Control gain uncertainty; nonlinearity estimator; qualitative robustness; semiglobal stability; uncertain nonlinear systems; DISTURBANCE OBSERVER; PERFORMANCE ANALYSIS;
D O I：
10.1109/TAC.2019.2940567
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 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 semiglobal 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 single-link manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.
引用
收藏
页码：2230 / 2236
页数：7
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