Name
Title | ||
|---|---|---|
Low-Complexity Prescribed Performance Control of Uncertain MIMO Feedback Linearizable Systems. |
Abstract | ||
|---|---|---|
A continuous, state-feedback controller guaranteeing zero overshoot, preselected bounds on the minimum admissible convergence rate and maximum allowable steady-state values of the output tracking error is proposed for a class of uncertain, multi-input, multi-output nonlinear systems. Contrary to the current state-of-the-art, a decisive step towards minimizing controller implementation complexity is taken by designing a static, approximation-free control scheme, defined by simple analytical expressions that scale well even for high relative degree systems. Simulations on a 2-dof robotic manipulator clarify and verify the approach. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TAC.2015.2480232 | IEEE Trans. Automat. Contr. |
Keywords | Field | DocType |
Neural networks,Convergence,Steady-state,MIMO,Complexity theory,Trajectory | Convergence (routing),Control theory,Mathematical optimization,Nonlinear system,Expression (mathematics),Control theory,Overshoot (signal),MIMO,Rate of convergence,Mathematics,Tracking error | Journal |
Volume | Issue | ISSN |
61 | 7 | 0018-9286 |
Citations | PageRank | References |
18 | 0.65 | 7 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Achilles Theodorakopoulos | 1 | 60 | 3.49 |
| George A. Rovithakis | 2 | 749 | 45.73 |