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

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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