Paper Info
Title
Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems
Abstract
A saturated controller is developed for a class of uncertain, second-order, nonlinear systems which includes time-varying and nonlinearly parameterized functions with bounded disturbances using a continuous control law with smooth saturation functions. Based on the robust integral of the sign of the error (RISE) control methodology, the developed controller is able to utilize the benefits of high gain control strategies while guaranteeing saturation limits are not surpassed. The bounds on the control are known a priori and can be adjusted by changing the feedback gains. The saturated controller yields asymptotic tracking despite model uncertainty and added disturbances in the dynamics. Experimental results using a two-link robot manipulator demonstrate the performance of the developed controller.
Year
DOI
Venue
2014
10.1109/TAC.2013.2286913
Automatic Control, IEEE Transactions
Keywords
Field
DocType
control nonlinearities,feedback,nonlinear control systems,robust control,time-varying systems,tracking,uncertain systems,asymptotic tracking,bounded disturbances,continuous control law,model uncertainty,nonlinearly parameterized function,robust integral of the sign of the error control methodology,saturated RISE feedback control,saturated controller,second-order nonlinear systems,smooth saturation functions,time-varying parameterized function,two-link robot manipulator,uncertain system,Nonlinear control systems,RISE control,robust control,saturated control
Control theory,Mathematical optimization,Nonlinear system,Nonlinear control,Control theory,Automatic control,Adaptive control,Robust control,Variable structure control,Mathematics,Sliding mode control
Journal
Volume
Issue
ISSN
59
4
0018-9286
Citations 
PageRank 
References 
16
0.81
18
Authors
4
Name
Order
Citations
PageRank
Nicholas R. Fischer11265.67
Zhen Kan222926.54
R. Kamalapurkar336726.14
Warren E. Dixon41757149.42