NDLI: Adaptive robust control of a class of uncertain nonlinear systems with unknown sinusoidal disturbances

Content Provider	IEEE Xplore Digital Library
Author	Xiangbin Liu Hongye Su Bin Yao Jian Chu
Copyright Year	2008
Description	Author affiliation: State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China (Xiangbin Liu; Hongye Su; Jian Chu) \|\| Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA (Bin Yao)
Abstract	In this paper, nonlinear observers are incorporated into the discontinuous projection based adaptive robust control (ARC) to synthesize performance oriented controllers for a class of uncertain nonlinear systems with unknown sinusoidal disturbances. In addition to magnitudes and phases, frequencies of the sinusoidal disturbances need not to be known as well, so long as the overall order is known. A nonlinear observer is constructed to eliminate the effect of unknown sinusoidal disturbances to improve the steady-state output tracking performance - asymptotic output tracking is achieved when the system is subjected to unknown sinusoidal disturbance only. The discontinuous projection based adaptation law is used to obtain robust estimate of all unknown parameters. In addition, a dynamic normalization signal is introduced to construct adaptive robust control laws to effectively deal with various uncertainties for a guaranteed robust performance in general. Compared with the existing internal model principle based robust adaptive designs for unknown sinusoidal disturbances, the model uncertainties considered in the paper can be of unmatched. Furthermore, in the presence of other disturbances and uncertainties in addition to the sinusoidal disturbances, the proposed approach achieves a guaranteed output tracking robust performance in terms of both the transient and the steady-state, as opposed to the robust stability results of the existing internal model principle based designs.
Starting Page	2594
Ending Page	2599
File Size	223931
Page Count	6
File Format	PDF
ISBN	9781424431236
ISSN	01912216
DOI	10.1109/CDC.2008.4739272
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-09
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Robust control Nonlinear systems Uncertainty Steady-state Robustness Robust stability Control system synthesis Nonlinear control systems
Content Type	Text
Resource Type	Article

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