Title :
A nonlinear robust controller for a class of nonlinear uncertain systems
Author :
Kaloust, J. ; Ham, C.
Author_Institution :
Lockheed Martin Vought Syst., Dallas, TX, USA
Abstract :
In this paper, we shall present an alternative control design approach for nonlinear uncertain systems that do not satisfy the generalized matching conditions. The control design scheme is a combination of the backstepping design technique along with a dynamic recursive control design. The controller yields global stability of uniform ultimate boundedness and requires only the knowledge of the bounding function of the uncertainty along with the system states. The form of the controller is a nonlinear nonhomogenous ordinary differential equation where its solution yields the control to be injected into the system model
Keywords :
control system synthesis; differential equations; nonlinear control systems; robust control; uncertain systems; backstepping design; dynamic recursive control design; global stability; nonlinear nonhomogenous ordinary differential equation; nonlinear robust controller; nonlinear uncertain systems; uniform ultimate boundedness; Backstepping; Control design; Control systems; Differential equations; Nonlinear control systems; Nonlinear dynamical systems; Robust control; Stability; Uncertain systems; Uncertainty;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786307
