Adaptive robust stabilization of a class of uncertain non-linear systems with mismatched time-varying parameters

In this paper, an adaptive robust stabilization algorithm is presented for a class of non-linear systems with mismatched uncertainties. In this regard, a new controller based on the Lyapunov theory is proposed in order to overcome the problem of stabilizing non-linear time-varying systems with misma...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2012-02, Vol.226 (2), p.204-214
Main Authors: Arefi, M M, Jahed-Motlagh, M R
Format: Article
Language:English
Subjects:
Adaptive systems
Algorithms
Asymptotic properties
Closed loop systems
Control systems
Control theory
Dynamical systems
Mathematical models
Mechanical engineering
Nonlinear systems
Robust stabilization
Simulation
Uncertainty
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Summary:In this paper, an adaptive robust stabilization algorithm is presented for a class of non-linear systems with mismatched uncertainties. In this regard, a new controller based on the Lyapunov theory is proposed in order to overcome the problem of stabilizing non-linear time-varying systems with mismatched uncertainties. This method is such that the stability of the closed-loop system is guaranteed in the absence of the triangularity assumption. The proposed approach leads to asymptotic convergence of the states of the closed-loop system to zero for unknown but bounded uncertainties. Subsequently, this method is modified so that all the signals in the closed-loop system are uniformly ultimately bounded. Eventually, numerical simulations support the effectiveness of the given algorithm.
ISSN:0959-6518
2041-3041
DOI:10.1177/0959651811415002