Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach
In this paper, the output tracking problem for a large class of uncertain nonlinear systems with arbitrary integrator powers and nonlinearly parameterized unknown dynamics is addressed by employing an innovative tool called adding an universal power integrator (AUPI). By virtue of the AUPI methodolo...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2018
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| Online Access: | https://hdl.handle.net/10356/89172 http://hdl.handle.net/10220/47054 |
| _version_ | 1826117366757457920 |
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| author | Wang, Ning Sun, Jing-Chao Er, Meng Joo |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Wang, Ning Sun, Jing-Chao Er, Meng Joo |
| author_sort | Wang, Ning |
| collection | NTU |
| description | In this paper, the output tracking problem for a large class of uncertain nonlinear systems with arbitrary integrator powers and nonlinearly parameterized unknown dynamics is addressed by employing an innovative tool called adding an universal power integrator (AUPI). By virtue of the AUPI methodology, flexible degrees of homogeneous are incorporated to mask rich diversities in integrator powers rather than simply positive odd integers involved in previous works. Moreover, a universal gain is adaptively updated according to the tracking error, which can converge into an arbitrarily small region including the origin, and thereby contributing to bounded but large enough controller gain and prescribed tracking accuracy. Numerical examples demonstrate the effectiveness of the proposed AUPI-based adaptive tracking control scheme. |
| first_indexed | 2024-10-01T04:26:07Z |
| format | Journal Article |
| id | ntu-10356/89172 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:26:07Z |
| publishDate | 2018 |
| record_format | dspace |
| spelling | ntu-10356/891722020-03-07T14:02:36Z Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach Wang, Ning Sun, Jing-Chao Er, Meng Joo School of Electrical and Electronic Engineering Integrator Powers Uncertain Nonlinear Systems DRNTU::Engineering::Electrical and electronic engineering In this paper, the output tracking problem for a large class of uncertain nonlinear systems with arbitrary integrator powers and nonlinearly parameterized unknown dynamics is addressed by employing an innovative tool called adding an universal power integrator (AUPI). By virtue of the AUPI methodology, flexible degrees of homogeneous are incorporated to mask rich diversities in integrator powers rather than simply positive odd integers involved in previous works. Moreover, a universal gain is adaptively updated according to the tracking error, which can converge into an arbitrarily small region including the origin, and thereby contributing to bounded but large enough controller gain and prescribed tracking accuracy. Numerical examples demonstrate the effectiveness of the proposed AUPI-based adaptive tracking control scheme. Published version 2018-12-18T06:19:09Z 2019-12-06T17:19:28Z 2018-12-18T06:19:09Z 2019-12-06T17:19:28Z 2016 Journal Article Wang, N., Sun, J.-C., & Er, M. J. (2016). Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach. IEEE Access, 4, 10136-10146. doi:10.1109/ACCESS.2016.2637890 https://hdl.handle.net/10356/89172 http://hdl.handle.net/10220/47054 10.1109/ACCESS.2016.2637890 en IEEE Access © 2016 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. 11 p. application/pdf |
| spellingShingle | Integrator Powers Uncertain Nonlinear Systems DRNTU::Engineering::Electrical and electronic engineering Wang, Ning Sun, Jing-Chao Er, Meng Joo Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach |
| title | Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach |
| title_full | Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach |
| title_fullStr | Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach |
| title_full_unstemmed | Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach |
| title_short | Global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems : adding an universal power integrator approach |
| title_sort | global adaptive practical output tracking control for a class of genuinely nonlinear uncertain systems adding an universal power integrator approach |
| topic | Integrator Powers Uncertain Nonlinear Systems DRNTU::Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/89172 http://hdl.handle.net/10220/47054 |
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