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  • 标题:Robust adaptive trajectory tracking of nonlinear systems based on input-to-state stability tracking control Lyapunov functions
  • 本地全文:下载
  • 作者:Yasuyuki Satoh ; Makoto Iwashita ; Osamu Sakata
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2021
  • 卷号:54
  • 期号:14
  • 页码:388-393
  • DOI:10.1016/j.ifacol.2021.10.385
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractIn this paper, we propose a trajectory-tracking controller for input-affine nonlinear systems, which guarantees robustness in the presence of both input uncertainties and external disturbances. The framework of input-to-state stability tracking control Lyapunov function(ISS-TCLF) is employed to construct a disturbance attenuation tracking controller. Then, we introduce a Lyapunov-based adaptive compensator to mitigate the effect of input uncertainties. The proposed controller guarantees that (i) the closed-loop system is input-to-state stable, and (ii) the tracking error converges to zero if the disturbance is a constant signal. Simulation results of a wheeled mobile robot validate the effectiveness of the proposed controller.
  • 关键词:Keywordsnonlinear systemstrajectory-trackingdisturbance attenuationmodel uncertaintiesinput-to-state stability tracking control Lyapunov function (ISS-TCLF)adaptive control
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