Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances

2017 ◽  
Vol 28 (4) ◽  
pp. 1456-1473 ◽  
Author(s):  
Wenchao Xue ◽  
Yi Huang
Keyword(s):  
Performance Analysis ◽  
Tracking Control ◽  
Uncertain Systems ◽  
Nonlinear Uncertain Systems

Adaptive Dynamic Control of Nonlinear Systems With Actuator Amplitude and Rate Saturation Constraints

2007 ◽  
Author(s):  
Alexander Leonessa ◽  
Wassim M. Haddad ◽  
Tomohisa Hayakawa ◽  
Yannick Morel
Keyword(s):  
Tracking Control ◽  
Uncertain Systems ◽  
Tracking Error ◽  
Dynamic Control ◽  
Control Framework ◽  
Nonlinear Tracking ◽  
The Face ◽  
Saturation Constraints ◽  
Nonlinear Uncertain Systems ◽  
Error Dynamics

A direct adaptive nonlinear tracking control framework for multivariable nonlinear uncertain systems with actuator amplitude and rate saturation constraints is developed. To guarantee asymptotic stability of the closed-loop tracking error dynamics in the face of amplitude and rate saturation constraints, the control signal to a given reference (governor or supervisor) system is modified to effectively robustify the error dynamics to the saturation constraints. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.

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