Adaptive Robust Model Tracking Control of Nonlinear Dynamical Systems with Unmatched Disturbances
- Resource Type
- Conference
- Authors
- Wang, Yuchao; Chen, Sanyan; Shi, Wenrui; Xu, Lijia
- Source
- 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2018 IEEE 8th Annual International Conference on. :1490-1495 Jul, 2018
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Adaptive robust control
nonlinear systems
unmatched disturbances
model tracking
- Language
In this paper, the problem of adaptive robust model tracking for nonlinear dynamical systems with parameter uncertainties and unmatched disturbances is studied. It is assumed that the parameter uncertainties and the bounds of the unmatched disturbances are unknown. For tracking reference model, a kind of adaptive robust controller is proposed. The uniform ultimate boundedness of the error between state $x(t)$ and the state $x_{r}(t)$ of the reference model can be guaranteed by the proposed controller in the presence of parameter uncertainties and unmatched disturbances. Finally, a numerical example is provided to illustrate the effectiveness of the proposed control scheme.