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Title: An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Bayrak, Alper
Bıdıklı, Barış
Tatlıcıoğlu, Enver
Bayrak, Alper
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Lyapunov methods
Nonlinear uncertain dynamical systems
Robust control
MIMO systems
Multi-input systems
Multi-output systems
Issue Date: Sep-2016
Publisher: Taylor and Francis Ltd.
Source: Bıdıklı, B., Tatlıcıoğlu, E., Zergeroğlu, E. and Bayrak, A. (2016). An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics. International Journal of Systems Science, 47(12), 2913-2924. doi:10.1080/00207721.2015.1039627
Abstract: In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.
ISSN: 0020-7721
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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