Robust adaptive state-feedback tracking for nonlinear systems

Author

Marino, Riccardo ; Tomei, Patrizio

Author_Institution

Dipt. di Ingegneria Elettronica, Rome Univ., Italy

Volume

43

Issue

1

fYear

1998

fDate

1/1/1998 12:00:00 AM

Firstpage

84

Lastpage

89

Abstract

For a class of singie-input/single-output uncertain nonlinear systems, affected both by uncertain time-varying parameters (with known bounds) and unknown time-varying bounded disturbances, a new robust adaptive state-feedback control algorithm is presented. It guarantees: boundedness of all signals and arbitrary disturbance attenuation when both disturbances and time-varying parameters are present, and asymptotic tracking with arbitrary transient performance when no disturbance is acting on the system and parameters are constant. The adaptation may be switched off, still guaranteeing bounded signals and disturbance attenuation

Keywords

adaptive control; nonlinear systems; robust control; state feedback; tracking; uncertain systems; SISO systems; adaptive control; bounded signals; boundedness; disturbance attenuation; nonlinear systems; robust control; state-feedback; time-varying parameters; tracking; uncertain systems; Adaptive control; Automatic control; Control systems; Jacobian matrices; Nonlinear equations; Nonlinear systems; Output feedback; Riccati equations; Robust control; Robustness;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.654892

Filename

654892