Name
Title | ||
|---|---|---|
A general approach to precise tracking of nonlinear systems subject to non-vanishing uncertainties |
Abstract | ||
|---|---|---|
In this work we introduce a new and systematic methodology for precise tracking control of normal-form nonlinear systems subject to non-vanishing/non-parametric uncertainties. We propose a general solution to achieving robust tracking with a rate of convergence that can be pre-assigned as fast as desired (e.g. super exponential or even closer to a pre-specified finite time). The key design tool is the utilization of a time-varying feedback gain through a time-varying scaling function that satisfies certain conditions. Our method also features with complete rejection (rather than partial attenuation) of uncertainties/disturbances and regulation of the tracking error to zero. A generic and analytical procedure to construct the time-varying rate function is provided, extending and generalizing the existing results in the literature. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1016/j.automatica.2019.05.008 | Automatica |
Keywords | Field | DocType |
Nonlinear systems,Time-varying feedback,Pre-specified convergence rate,Super-exponentials | Nonlinear system,Exponential function,Control theory,Generalization,Design tool,Rate of convergence,Scaling,Rate function,Mathematics,Tracking error | Journal |
Volume | Issue | ISSN |
106 | 1 | 0005-1098 |
Citations | PageRank | References |
1 | 0.35 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yujuan Wang | 1 | 246 | 11.57 |
| Yong-Duan Song | 2 | 1949 | 108.61 |