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An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

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Date
2016-09
Author
Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Bayrak, Alper
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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.
URI
http://doi.org/10.1080/00207721.2015.1039627
http://hdl.handle.net/11147/5802
Collections
  • Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği [286]
  • Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection [3276]
  • WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection [2953]

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