Robust adaptive trajectory tracking of nonlinear systems based on input-to-state stability tracking control Lyapunov functions. Issue 14 (2021)

• Record Type: Journal Article
• Authors: Satoh, Yasuyuki; Iwashita, Makoto; Sakata, Osamu
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 14(2021)
• Page Start: 388
• Page End: 393
• Publication Date: 2021
• Subjects: nonlinear systems -- trajectory-tracking -- disturbance attenuation -- model uncertainties -- input-to-state stability tracking control Lyapunov function (ISS-TCLF) -- adaptive control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.10.385
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we propose a trajectory-tracking controller for input-affine nonlinear systems, which guarantees robustness in the presence of both input uncertainties and external disturbances. The framework of input-to-state stability tracking control Lyapunov function(ISS-TCLF) is employed to construct a disturbance attenuation tracking controller. Then, we introduce a Lyapunov-based adaptive compensator to mitigate the effect of input uncertainties. The proposed controller guarantees that (i) the closed-loop system is input-to-state stable, and (ii) the tracking error converges to zero if the disturbance is a constant signal. Simulation results of a wheeled mobile robot validate the effectiveness of the proposed controller.