Abstract
Output tracking controller design problem is dealt with for a class of nonlinear systems in strict-feedback form in the presence of time-varying nonlinear uncertainties and unmodeled dynamics with multi-operation points. A new method based on signal compensation is proposed to design a robust controller, which consists of a nominal controller and a robust compensator. It is shown that semiglobal robust tracking property can be achieved. A new feature of our results is that the controller is a linear and time-invariant one and “explosion of complexity” problem is avoided.
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Recommended by Editorial Board member Guang-Hong Yang under the direction of Editor Jae Weon Choi. This work was supported by the National Natural Science Foundation of China under Grants 60674017 and 60736024.
Yao Yu received her B.S. degree in Electrical Engineering from Huazhong University of Science and Technology in 2004. She is currently a Ph.D. student in Tsinghua University. Her research interests are nonlinear control, and robust control.
Yi-Sheng Zhong received his Ph.D. degree in Electrical Engineering from Hokkaido University in 1988. From 1996, he is a professor of Electrical Engineering in Tsinghua University. His research interests include complex problems, and nonlinear systems.
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Yu, Y., Zhong, YS. Semiglobal robust backstepping output tracking for strict-feedback form systems with nonlinear uncertainty. Int. J. Control Autom. Syst. 9, 366–375 (2011). https://doi.org/10.1007/s12555-011-0219-y
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DOI: https://doi.org/10.1007/s12555-011-0219-y