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Robust control for uncertain nonlinear systems with state‐dependent control direction
Author(s) -
Yang Zaiyue,
Yam S. C. P.,
Li L. K.,
Wang Yiwen
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1582
Subject(s) - control theory (sociology) , zero (linguistics) , bounding overwatch , nonlinear system , robust control , controller (irrigation) , multiplier (economics) , sign (mathematics) , control (management) , state (computer science) , control system , computer science , mathematics , engineering , algorithm , artificial intelligence , physics , mathematical analysis , philosophy , linguistics , macroeconomics , electrical engineering , quantum mechanics , agronomy , economics , biology
The control direction is the multiplier of the control term. In this study, the control direction is considered as an unknown function of state and allowed to cross zero and change its sign smoothly. Based on the analysis of system dynamics at the points where the control direction is zero, a robust controller is proposed by integrating with a bounding function and a Nussbaum‐type gain. Under the proposed controller, the system approaches zero if zero is accessible, or to the accessible point closest to zero if zero is not accessible by any control. The control performance is illustrated by simulated examples. Copyright © 2010 John Wiley & Sons, Ltd.