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Nonlinearity estimator-based control of a class of uncertain nonlinear systems
The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restricti...
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| Main Authors: | , , , , |
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| Format: | Default Article |
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2019
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| Online Access: | https://hdl.handle.net/2134/9810506.v1 |
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| _version_ | 1822541630234689536 |
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| author | Jun Yang Ting Li Cunjia Liu Shihua Li Wen-Hua Chen |
| author_facet | Jun Yang Ting Li Cunjia Liu Shihua Li Wen-Hua Chen |
| author_sort | Jun Yang (2084) |
| collection | Figshare |
| description | The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semi-global stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a singlelink manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis. |
| format | Default Article |
| id | rr-article-9810506 |
| institution | Loughborough University |
| publishDate | 2019 |
| record_format | Figshare |
| spelling | rr-article-98105062019-09-10T00:00:00Z Nonlinearity estimator-based control of a class of uncertain nonlinear systems Jun Yang (2084) Ting Li (117885) Cunjia Liu (1176420) Shihua Li (737625) Wen-Hua Chen (1251597) Mechanical engineering not elsewhere classified Nonlinearity estimator Control gain uncertainty Qualitative robustness Uncertain nonlinear systems Semi-global stability Mechanical Engineering The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semi-global stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a singlelink manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis. 2019-09-10T00:00:00Z Text Journal contribution 2134/9810506.v1 https://figshare.com/articles/journal_contribution/Nonlinearity_estimator-based_control_of_a_class_of_uncertain_nonlinear_systems/9810506 All Rights Reserved |
| spellingShingle | Mechanical engineering not elsewhere classified Nonlinearity estimator Control gain uncertainty Qualitative robustness Uncertain nonlinear systems Semi-global stability Mechanical Engineering Jun Yang Ting Li Cunjia Liu Shihua Li Wen-Hua Chen Nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| title | Nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| title_full | Nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| title_fullStr | Nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| title_full_unstemmed | Nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| title_short | Nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| title_sort | nonlinearity estimator-based control of a class of uncertain nonlinear systems |
| topic | Mechanical engineering not elsewhere classified Nonlinearity estimator Control gain uncertainty Qualitative robustness Uncertain nonlinear systems Semi-global stability Mechanical Engineering |
| url | https://hdl.handle.net/2134/9810506.v1 |