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ROBUST TRACKING FOR NONLINEAR SYSTEMS VIA HYBRID CONTROL

โœ Scribed by ZHONG-HUA LI; TIAN-YOU CHAI; CHANGYUN WEN

Publisher
John Wiley and Sons
Year
1996
Tongue
English
Volume
6
Category
Article
ISSN
1049-8923

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โœฆ Synopsis

In this paper, the problem of output tracking for single-inputlsingle-output nonlinear systems in the presence of mismatched uncertainty is studied. In our problem, the so-called matching condition in the literature is further relaxed, and a more general condition on the uncertainty is given. To attenuate the effects of uncertainties on the tracking error, a design method which is referred to as the Stable Combined Variable Perturbation Method (SCVPM) is presented. Based on this design method, a new robust tracking controller is derived using hybrid control strategy. This controller, taken as a rootcontroller, is then used to generate two other controllers. A11 these controllers guarantee robustness of the closed-loop system, only with different tracking accuracies. The design method as well as the robust controllers is characterized by a small robust design parameter, E. The tracking error converges to an Eneighbourhood of the origin, and, by letting E go to zero, the accuracy of tracking can be improved to any desired degree. Finally, an example is given and the simulation results confirm the theoretical analyses, thus show the effectiveness of the new design method and controllers.

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