Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems

Jun Yang; Ting Li; Cunjia Liu; Shihua Li; Wen Hua Chen

doi:10.1109/TAC.2019.2940567

Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems

Jun Yang, Ting Li, Cunjia Liu, Shihua Li, Wen Hua Chen

Department of Aeronautical and Aviation Engineering

Research output: Journal article publication › Journal article › Academic research › peer-review

40 Citations (Scopus)

Abstract

The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty, and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semiglobal stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a single-link manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.

Original language	English
Article number	8828083
Pages (from-to)	2230-2236
Number of pages	7
Journal	IEEE Transactions on Automatic Control
Volume	65
Issue number	5
DOIs	https://doi.org/10.1109/TAC.2019.2940567
Publication status	Published - May 2020

Keywords

Control gain uncertainty
nonlinearity estimator
qualitative robustness
semiglobal stability
uncertain nonlinear systems

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

More information

10.1109/TAC.2019.2940567

Cite this

@article{8ff9a79b6c2d4096abb8bb8084b5230f,

title = "Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems",

abstract = "The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty, and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semiglobal stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a single-link manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.",

keywords = "Control gain uncertainty, nonlinearity estimator, qualitative robustness, semiglobal stability, uncertain nonlinear systems",

author = "Jun Yang and Ting Li and Cunjia Liu and Shihua Li and Chen, {Wen Hua}",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.",

year = "2020",

month = may,

doi = "10.1109/TAC.2019.2940567",

language = "English",

volume = "65",

pages = "2230--2236",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "IEEE",

number = "5",

}

TY - JOUR

T1 - Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems

AU - Yang, Jun

AU - Li, Ting

AU - Liu, Cunjia

AU - Li, Shihua

AU - Chen, Wen Hua

PY - 2020/5

Y1 - 2020/5

N2 - The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty, and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semiglobal stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a single-link manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.

AB - The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty, and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semiglobal stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a single-link manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.

KW - Control gain uncertainty

KW - nonlinearity estimator

KW - qualitative robustness

KW - semiglobal stability

KW - uncertain nonlinear systems

UR - http://www.scopus.com/inward/record.url?scp=85072521924&partnerID=8YFLogxK

U2 - 10.1109/TAC.2019.2940567

DO - 10.1109/TAC.2019.2940567

M3 - Journal article

AN - SCOPUS:85072521924

SN - 0018-9286

VL - 65

SP - 2230

EP - 2236

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 5

M1 - 8828083

ER -

Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems

Abstract

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this