Robust backstepping output tracking control for SISO uncertain nonlinear systems with unknown virtual control coefficients |
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Authors: | Yao Yu Yi-Sheng Zhong |
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Affiliation: | 1. Department of Automation , Tsinghua University , Beijing , PR China yu-y04@mails.tsinghua.edu.cn;3. Department of Automation , Tsinghua National Laboratory for Information Science and Technology, Tsinghua University , Beijing , PR China |
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Abstract: | The output tracking controller design problem is dealt with for a class of nonlinear strict-feedback form systems in the presence of nonlinear uncertainties, external disturbance, unmodelled dynamics and unknown time-varying virtual control coefficients. A new method based on signal compensation is proposed to design a linear time-invariant robust controller, which consists of a nominal controller and a robust compensator. It is shown that the closed-loop control system with a controller designed by the proposed method has robust asymptotical practical tracking property for any bounded initial conditions and robust tracking transient property if all initial states are zero. |
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Keywords: | backstepping robust tracking unmodelled dynamics linear controller |
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