A general approach to precise tracking of nonlinear systems subject to non-vanishing uncertainties

In this work we introduce a new and systematic methodology for precise tracking control of normal-form nonlinear systems subject to non-vanishing/non-parametric uncertainties. We propose a general solution to achieving robust tracking with a rate of convergence that can be pre-assigned as fast as de...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 106; pp. 306 - 314
Main Authors Wang, Yujuan, Song, Yongduan
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.08.2019
Subjects
Nonlinear systems
Pre-specified convergence rate
Super-exponentials
Time-varying feedback
Super-exponentials
Nonlinear systems
Pre-specified convergence rate
Time-varying feedback
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ISSN0005-1098
1873-2836
DOI10.1016/j.automatica.2019.05.008

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Summary:In this work we introduce a new and systematic methodology for precise tracking control of normal-form nonlinear systems subject to non-vanishing/non-parametric uncertainties. We propose a general solution to achieving robust tracking with a rate of convergence that can be pre-assigned as fast as desired (e.g. super exponential or even closer to a pre-specified finite time). The key design tool is the utilization of a time-varying feedback gain through a time-varying scaling function that satisfies certain conditions. Our method also features with complete rejection (rather than partial attenuation) of uncertainties/disturbances and regulation of the tracking error to zero. A generic and analytical procedure to construct the time-varying rate function is provided, extending and generalizing the existing results in the literature.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2019.05.008