Abstract
In this study, we present a new continuous controller mechanism for the tracking problem of uncertain nonlinear systems. The proposed strategy is based on a Lyapunov- based stability argument and only requires the uncertainties of the dynamical system to be first order differentiable to achieve asymptotic tracking. For the ease of presentation the controller formulation is presented on a general, second order single- input single-output dynamical system, however extension to multi-input multi-output and higher order versions are also possible with a considerably small effort. Simulation studies on a two link planar robot system are presented to illustrate the feasibility of the proposed strategy.
Keywords
Control theory (sociology)
Controller (irrigation)
Nonlinear system
Strict-feedback form
Computer science
Differentiable function
Exponential stability
Scheme (mathematics)
Lyapunov function
Extension (predicate logic)
Dynamical systems theory
Stability (learning theory)
Class (philosophy)
Trajectory
Control engineering
Mathematics
Control (management)
Adaptive control
Backstepping
Engineering
Artificial intelligence
Subject Areas
Adaptive Control of Nonlinear Systems
·Control and Systems Engineering ·Physical Sciences
Iterative Learning Control Systems
·Control and Systems Engineering ·Physical Sciences
Advanced Control Systems Optimization
·Control and Systems Engineering ·Physical Sciences
Citations by Year
2012: 3
2013: 1
2015: 1
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