New results on robust tracking control for a class of high-order nonlinear time-delay systems

This paper considers the global tracking control problem for a class of nonlinear systems. Compared with the existing results, one significant distinction of this work is that it allows the high-order powers, zero dynamics, time-delay and external disturbances. By constructing a new Lyapunov-Krasovs...

Full description

Saved in:
Bibliographic Details
Published in:International journal of systems science 2019-07, Vol.50 (10), p.2002-2014
Main Authors: Xue, Lingrong, Liu, Zhenguo, Sun, Zongyao, Sun, Wei
Format: Article
Language:English
Subjects:
adding a power integrator method
Control systems design
Design modifications
disturbances
Feedback control
Nonlinear systems
Nonlinear time-delay systems
Robust control
Time delay systems
Tracking control
Tracking errors
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper considers the global tracking control problem for a class of nonlinear systems. Compared with the existing results, one significant distinction of this work is that it allows the high-order powers, zero dynamics, time-delay and external disturbances. By constructing a new Lyapunov-Krasovskii (L-K) functional and using the modified adding a power integrator method, we successfully design a non-smooth tracking controller which guarantees that all the signals of the closed-loop system are bounded. The tracking error can be adjusted small enough using the designed parameters. As a practical application, in the simulation, the single-link robot system is studied to show the validness of the strategy.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2019.1646346