Robust Control for Uncertain Nonlinear Systems with Unknown and Changing Control Direction

被引：0
|
作者：
Yang, Zaiyue [1 ]
Yam, S. C. P. [1 ]
Li, L. K. [1 ]
Wang, Yiwen [2 ]
机构：
[1] Hong Kong Polytech Univ, Dept Appl Math, Hong Kong, Hong Kong, Peoples R China
[2] Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Hong Kong, Hong Kong, Peoples R China
来源：
MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3 | 2009年
关键词：
robust control; uncertain nonlinear system; control direction; Nussbaum-type gain; A-PRIORI KNOWLEDGE; ADAPTIVE-CONTROL; PLANT-PARAMETERS; CONTROL DESIGN; STABILIZATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the robust control problem for uncertain nonlinear systems with unknown and changing control direction. The control direction is the multiplier of the control term, and is allowed to cross zero and change its sign for unlimited number of times. Based on the analysis of system dynamics at the points where the control direction is zero, a robust controller is proposed by integrating with a Nussbaum-type gain. Under the proposed controller, the system converges to zero if zero is accessible, or to the accessible point closest to zero if zero is not accessible by any control. The control performance is illustrated by the simulated example.
引用
收藏
页码：235 / 239
页数：5
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