Adaptive robust asymptotic tracking control of nonaffine nonlinear systems. (26th September 2022)

• Record Type: Journal Article
• Authors: Wang, Shubo
• Other Names: Bako Laurent guestEditor.; Mo Yilin guestEditor.; Nagahara Masaaki guestEditor.
• Is Part Of: International journal of robust and nonlinear control. Volume 33:Number 1(2023)
• Page Start: 559
• Page End: 573
• Publication Date: 2022-09-26
• Subjects: adaptive control -- disturbance rejection -- nonlinear systems -- robust control; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.6367
• Languages: English
• ISSNs: 1049-8923

Abstract

Abstract: This article investigates the barrier lyapunov function‐based adaptive robust control scheme for nonaffine nonlinear systems with unknown system dynamics. First, the nonaffine system is converted into affine system via a combination of first‐order filter and coordinate transformation, then a high‐gain observer is utilized to reconstruct the immeasurable states of the derived affine system. Second, a robust integral of the sign of the error (RISE) is incorporated into the control design to reject the unknown dynamics. Third, a barrier lyapunov function based design method is used to ensure that the input vector to the parameter estimation remain within a predefined region. Then, an adaptive robust control scheme with only one adaptive parameter by using the upper bound estimation is developed. Finally, numerical simulations validate the efficacy of the developed control scheme.