An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics
Yükleniyor...
Tarih
2016
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Taylor & Francis Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.
Açıklama
Anahtar Kelimeler
Robust Control, Lyapunov Methods, Nonlinear Uncertain Dynamical Systems, Multi-Input/Multi-Output Systems
Kaynak
International Journal Of Systems Science
WoS Q Değeri
Q1
Scopus Q Değeri
Q1
Cilt
47
Sayı
12
