Adaptive tracking control for a class of disturbed nonlinear systems with unbounded time derivative for disturbance

Conference paper (2019)

Authors

Xiaojun Duan Northwestern Polytechnical University
Xinmin Dong Northwestern Polytechnical University
Zongcheng Liu Air Force Engineering University China
Maolong Lv Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Wenqian Zhang Air Force Engineering University China
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
More Info
expand_more

Published Date

2019

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Adaptive tracking control problem for disturbed nonlinear systems with the time derivative of disturbance being unbounded is investigated in this paper. Different from the existing literatures, a new disturbance observer is constructively proposed with its parameters being functions rather than constants, which results in a new manner for our disturbance observer. The convergence of the new disturbance observer is then proved based on Lyapunov stability theorem. Moreover, it is proved that the tracking error of system can be regulated to arbitrary small by appropriately choosing the design functions and parameters. Finally, simulation results are given to demonstrate the effectiveness of designed method.

Files

08815165.pdf
(.pdf | 0.267 Mb)