Abstract
In this paper we introduce a general and systematic approach to achieving robust tracking control for nonlinear systems with non-vanishing uncertainties, along with the complete rejection of non-vanishing uncertainties and user-assignable convergence rate. Furthermore, the convergence rate can be pre-specified faster than exponential or nearly as fast as any prescribed finite time if needed. The key design tool is the utilization of a time-varying feedback gain through a time-varying scaling function that satisfies certain conditions. A general way to construct such time-varying rate function is given such that the different yet assignable convergence rates can be achieved.
| Original language | English |
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| Title of host publication | Proceedings of the 3rd International Symposium on Autonomous Systems, ISAS 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 288-293 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781728112985 |
| DOIs | |
| Publication status | Published - May 2019 |
| Externally published | Yes |
| Event | The 3rd International Symposium on Autonomous Systems, ISAS 2019 - Shanghai, China Duration: 29 May 2019 → 31 May 2019 |
Conference
| Conference | The 3rd International Symposium on Autonomous Systems, ISAS 2019 |
|---|---|
| Abbreviated title | ISAS 2019 |
| Country/Territory | China |
| City | Shanghai |
| Period | 29/05/19 → 31/05/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
Funding
This work was supported in part by the National Natural Science Foundation of China under grant (No. 61773081, No. 61860206008, and No. 61803053), 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