NDLI: Exact tracking control of uncertain non-linear systems with additive disturbance

Content Provider	IET Digital Library
Author	Zhang, Zhengqiang Park, Ju H. Shao, Hanyong Qi, Zhidong
Abstract	This study deals with adaptive control of non-linear systems in the strict-feedback form with parametric uncertainties and additive disturbance. The disturbance in the systems is assumed to be bounded. No knowledge of the uncertain parameters, an upper bound of the uncertain parameter vector, a bound of unknown disturbance and the differentiability of the external disturbance is required. Under the weakened assumptions, two continuous robust adaptive control schemes are proposed. In the first control scheme, a modified adaptive backstepping design procedure is proposed to remove overparameterisation. A novel damping term with the estimate of unknown disturbance bound and a positive time-varying integral function are introduced in the control law to counteract the destabilising effects of the external disturbance. In the second scheme, an alternative continuous adaptive controller is designed. Instead of the estimate of the disturbance bound, an adaptive parameter is incorporated into the control design. In both of the two control schemes, the design parameters are freely chosen to improve the control performance. It is proved that the proposed two adaptive control schemes can guarantee that the closed-loop signals are bounded and the output tracking error converges to zero asymptotically in spite of the disturbance. Finally, a numerical example is included to show the effectiveness of the presented control methods.
Starting Page	736
Ending Page	744
Page Count	9
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 5, Mar (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0934
Journal	IET Control Theory & Applications
Publisher Date	2015-03-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Backstepping Design Procedure Adaptive Control Adaptive Parameter Additive Disturbance Alternative Continuous Adaptive Controller Design Closed Loop System Closed-loop Signal Continuous Robust Adaptive Control Scheme Continuous System Control System Analysis Control System Synthesis Damping Term Destabilising Effects Disturbance Bound Estimation Exact Tracking Control External Disturbance Feedback Nonlinear Control System Output Tracking Error Parametric Uncertainty Positive Time-varying Integral Function Robust Control Self Adjusting Control System Stability in Control Theory Strict-feedback Form Synthesis Method Uncertain Nonlinear System Uncertain System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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