Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 306-314 |
| Number of pages | 9 |
| Journal | Automatica |
| Volume | 106 |
| Early online date | 21 May 2019 |
| DOIs | |
| Publication status | Published - Aug 2019 |
| Externally published | Yes |
Bibliographical note
The material in this paper was partially presented at the 3rd International Symposium on Autonomous Systems (ISAS), May 29–31, 2019, Shanghai, China.Funding
This work was supported in part by the National Natural Science Foundation of China under grant (Nos. 61773081, 61860206008, 61803053, and 61833013), and the Fundamental Research Funds for the Central Universities under Project (No. 2018CDPTCG0001/43).
Keywords
- Nonlinear systems
- Pre-specified convergence rate
- Super-exponentials
- Time-varying feedback
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