Robust Adaptive Control for Nonlinear Systems with Hα Tracking Performance: Dynamic Surface Design Approach

Author

Yoo, Sung Jin ; Park, Jin Bae ; Choi, Yoon Ho

Author_Institution

Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul

fYear

2006

Firstpage

745

Lastpage

750

Abstract

The authors propose the robust controller via H_infin approach for a class of uncertain nonlinear systems in the parametric strict-feedback form. The controller incorporated with adaptive dynamic surface technique and the H_infin control technique is developed to reduce the influence of the parameter uncertainties and external disturbances on system performance. Finally, the one-link flexible joint manipulator is simulated to confirm the effectiveness and applicability of the proposed control scheme

Keywords

H^infin control; adaptive control; control system synthesis; feedback; manipulators; nonlinear control systems; robust control; tracking; uncertain systems; H_infin control technique; H_infin tracking; dynamic surface design approach; one-link flexible joint manipulator; parametric strict-feedback form; robust adaptive control; uncertain nonlinear systems; Adaptive control; Control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Robust control; System performance; Uncertain systems; Dynamic surface control; HÂ¿ tracking performance; strict-feedback nonlinear system;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315265

Filename

4108921