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Title: Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design
Authors: Zhang, Chuanlin
Yang, Jun
Wen, Changyun
Wang, Lei
Li, Shihua
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2017
Source: Zhang, C., Yang, J., Wen, C., Wang, L. & Li, S. (2017). Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design. IEEE Transactions On Systems, Man, and Cybernetics: Systems, 50(2), 577-589.
Journal: IEEE Transactions on Systems, Man, and Cybernetics: Systems
Abstract: This paper investigates a novel nonrecursive tracking control law design for a class of nonlinear systems via dynamic output feedback. As the main contribution of this paper, a global nonrecursive tracking design procedure is first proposed to render a simple construction of a realizable output feedback control law, whose gain selections follow the conventional pole placement approach while the stability margin can be guaranteed via a sufficiently large scaling gain. By introducing a Lyapunov function which neglects the virtual controllers in essence, rigorous analysis is presented to ensure the global stability. In addition, finite-time and asymptotical tracking results can now be achieved within the same design framework whereas the tunable homogeneous degree plays as a key role. As another contribution, by proposing a saturated dynamic compensator, a less ambitious but practical control objective, namely semiglobal stability is achieved of the closed-loop system to relax the requirement of the restrictive growth conditions for global control design. Taking consideration of the case when system is subject to mismatched disturbances, a unified design and stability analysis framework shows that the practical tracking result can also be realized. A numerical example is provided to illustrate the effectiveness of the nonrecursive design and the simplicity of the proposed tracking control algorithm.
ISSN: 2168-2216
DOI: 10.1109/TSMC.2017.2757966
Schools: School of Electrical and Electronic Engineering 
Rights: © 2017 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
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