A Nussbaum technique for unknown time-varying control direction with switching sign

Author

Yang Zaiyue

Author_Institution

State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China

fYear

2010

fDate

29-31 July 2010

Firstpage

2187

Lastpage

2192

Abstract

In this paper, a robust control approach is proposed for a class of nonlinear systems that contain both nonlinear dynamics uncertainty and an unknown time-varying control direction, which is the multiplier of the control term. In particular, the unknown control direction is allowed to switch its sign for an unlimited number of times. A new Nussbaum gain is designed and integrated with robust controller to tackle the sign-switching unknown control direction. It is proven that the proposed control approach can yield asymptotic convergence and guarantee the boundedness of the closed-loop signals.

Keywords

closed loop systems; convergence; nonlinear dynamical systems; robust control; time-varying systems; uncertain systems; Nussbaum gain; asymptotic convergence; closed loop signals; nonlinear dynamics uncertainty; robust control approach; robust controller; sign switching unknown control direction; unknown control direction; unknown time varying control direction; Convergence; Nonlinear systems; Robust control; Robustness; Switches; Uncertain systems; Control Direction; Nussbaum Gain; Robust Control; Uncertain Nonlinear System;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5572124