Compensation-signal-driven control for a class of nonlinear uncertain systems

Zhi Liang Zhao, Tianyou Chai, Cui Wei, Dongxu Liu, Tengfei Liu, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review

Abstract

This paper proposes a novel compensation-signal-driven control design method for a class of continuous-time nonlinear uncertain systems. It provides a systematic convergence and stability result on the discrete-time compensation control for continuous-time nonlinear uncertain systems. The key idea is to compensate the uncertainty at the current sampling instant by using a true value of the uncertainty at the last sampling instant. A rigorous convergence and stability result on the discrete-time compensation control is obtained by developing an eigenvalues-and-sequences-based analytic method. It is shown that the tracking error can be made arbitrarily small if the sampling period is sufficiently small. When the system functions are time-independent, the tracking error converges to zero as time tends to infinity. A robotic manipulator model is used in simulations to validate the efficacy of the proposed method.

Original languageEnglish (US)
Article number109423
JournalAutomatica
Volume125
DOIs
StatePublished - Mar 2021

Keywords

  • Disturbance
  • Nonlinear systems
  • PID control
  • Sampled-data control
  • Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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