Cascade Robust Control for a Class of MIMO Nonlinear Systems

被引：0
|
作者：
Wei Wei [1 ]
Wang Jing [2 ]
Li Donghai [3 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Informat Engn, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Engn Res Inst, Beijing, Peoples R China
[3] Tsinghua Univ, Dept Thermal Engn, State Key Lab Power Syst, Beijing, Peoples R China
来源：
ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS | 2009年
关键词：
ADAPTIVE-CONTROL; LINEARIZABLE SYSTEMS; NETWORKS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a decentralized cascade robust control scheme is developed for a class of NUM nonlinear systems with lower-triangular property and unknown nonlinearities. Due to the active compensation of the TC controller, the unknown nonlinearities will be counteracted. The algorithm proposed has no problem of the controller singularity, which may occur in algorithms based on neural networks or fuzzy systems. By choosing proper design parameter values, the tracking errors converge to a small neighborhood around zero. Simulations performed on a two-link robot manipulator illustrate the approach and verify its performance.
引用
收藏
页码：1709 / +
页数：2
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