Robust Trajectory Tracking for a Class of Uncertain Nonlinear Systems
Sprache des Titels:
Englisch
Original Buchtitel:
Nolcos 2007
Original Kurzfassung:
In this paper we consider the output tracking problem of an uncertain nonlinear system under the action of an inverse control thus making a robustifying feedback component necessary. Conventionally, the robustifying control is designed taking into account an operating point. We present a nonlinear robustifying
controller for tracking any trajectories inside its stability range. The design procedure of this nonlinear controller is based on a simple extension of a stabilizing
H2 or H-inf controller. If su±cient conditions are satisfied, robustness in terms of the L2 gain from the disturbance input to the tracking error performance variable can be guaranteed and calculated a priori. Finally simulation results verify the proposed method.
Sprache der Kurzfassung:
Englisch
Erscheinungsjahr:
2007
Anzahl der Seiten:
6
Notiz zur Publikation:
to be presented at NOLCOS 2007: 7th IFAC Symposium on Nonlinear Control Systems. 22-24 August, 2007, Pretoria, South Africa
Forschungs-