Global Practical Tracking with Prescribed Transient Performance for High-Order Uncertain Nonlinear Systems

被引：1

作者：

Li, Fengzhong ^{[1
]}

Liu, Yungang ^{[1
]}

机构：

[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250001, Peoples R China

来源：

IFAC PAPERSONLINE | 2015年 / 48卷 / 28期

关键词：

Uncertain nonlinear systems; global practical tracking; transient performance; unknown control directions; time-varying gain; OUTPUT TRACKING; FEEDBACK;

D O I：

10.1016/j.ifacol.2015.12.158

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 considers the global practical tracking with prescribed transient performance for a class of high-order uncertain nonlinear systems. Our tracking problem has two remarkable features. One is to guarantee the tracking error to evolve within a prescribed funnel. The other is to allow heavy nonlinearities and serious unknowns in the systems, especially the unknown control directions. For these, delicate time-varying gains are introduced to ensure the prescribed transient, performance. Simultaneously, such time-Varying gains can effectively compensate the serious unknown in the systems and the reference signal, and particularly, compensate the unknown control directions by combining generalized Nussbaum functions. Then, a time-varying state-feedback controller is constructed, that the solutions of the resulted closed-loop systems are globally bounded, and the tracking error evolves within the prescribed funnel. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：386 / 391

页数：6

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