Adaptive Robust Control for Nonlinear Systems with Mismatched Uncertainties

Research output: Contribution to journalArticle

Abstract

In this paper, the adaptive robust output tracking problem for a class of nonlinear systems which have both mismatched uncertainties and matched uncertainties has been addressed. The nominal system is input-output linearizable. Based on the input-output linearization technique and Lyapunov approach, an adaptive control law is developed to track the bounds on the plant uncertainties so that no prior knowledge of the bounds is required. It is shown that the output of the closed-loop systems ultimately track the desired output with a bounded tracking error despite the system uncertainties. An example is performed to illustrate the effectiveness of the proposed control scheme.

Original languageEnglish
Pages (from-to)751-758
Number of pages8
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume41
Issue number4
DOIs
Publication statusPublished - 1998 Jan 1

Fingerprint

Robust control
Nonlinear systems
Linearization
Closed loop systems
Uncertainty

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

@article{1d3dacf30f11415c98e2b7508c831769,
title = "Adaptive Robust Control for Nonlinear Systems with Mismatched Uncertainties",
abstract = "In this paper, the adaptive robust output tracking problem for a class of nonlinear systems which have both mismatched uncertainties and matched uncertainties has been addressed. The nominal system is input-output linearizable. Based on the input-output linearization technique and Lyapunov approach, an adaptive control law is developed to track the bounds on the plant uncertainties so that no prior knowledge of the bounds is required. It is shown that the output of the closed-loop systems ultimately track the desired output with a bounded tracking error despite the system uncertainties. An example is performed to illustrate the effectiveness of the proposed control scheme.",
author = "Teh-Lu Liao",
year = "1998",
month = "1",
day = "1",
doi = "10.1299/jsmec.41.751",
language = "English",
volume = "41",
pages = "751--758",
journal = "JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing",
issn = "1344-7653",
publisher = "Japan Society of Mechanical Engineers",
number = "4",

}

TY - JOUR

T1 - Adaptive Robust Control for Nonlinear Systems with Mismatched Uncertainties

AU - Liao, Teh-Lu

PY - 1998/1/1

Y1 - 1998/1/1

N2 - In this paper, the adaptive robust output tracking problem for a class of nonlinear systems which have both mismatched uncertainties and matched uncertainties has been addressed. The nominal system is input-output linearizable. Based on the input-output linearization technique and Lyapunov approach, an adaptive control law is developed to track the bounds on the plant uncertainties so that no prior knowledge of the bounds is required. It is shown that the output of the closed-loop systems ultimately track the desired output with a bounded tracking error despite the system uncertainties. An example is performed to illustrate the effectiveness of the proposed control scheme.

AB - In this paper, the adaptive robust output tracking problem for a class of nonlinear systems which have both mismatched uncertainties and matched uncertainties has been addressed. The nominal system is input-output linearizable. Based on the input-output linearization technique and Lyapunov approach, an adaptive control law is developed to track the bounds on the plant uncertainties so that no prior knowledge of the bounds is required. It is shown that the output of the closed-loop systems ultimately track the desired output with a bounded tracking error despite the system uncertainties. An example is performed to illustrate the effectiveness of the proposed control scheme.

UR - http://www.scopus.com/inward/record.url?scp=0039702620&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0039702620&partnerID=8YFLogxK

U2 - 10.1299/jsmec.41.751

DO - 10.1299/jsmec.41.751

M3 - Article

VL - 41

SP - 751

EP - 758

JO - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

JF - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

SN - 1344-7653

IS - 4

ER -