A Continuous Asymptotic Tracking Control Strategy for Uncertain Multi-Input Nonlinear Systems

B. Xian; D. M. Dawson; M. S. De Queiroz; J. Chen

doi:10.1109/isic.2003.1253913

A Continuous Asymptotic Tracking Control Strategy for Uncertain Multi-Input Nonlinear Systems

B. Xian
, D. M. Dawson
, M. S. De Queiroz
, J. Chen

Research output: Contribution to conference › Paper › peer-review

16 Scopus citations

Abstract

In this paper, we present a novel continuous control mechanism that compensates for uncertainty in a class of multi-input nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A Lyapunov-based stability argument is employed to prove semi-global asymptotic tracking. The control mechanism has the interesting feature of "learning" the unknown system dynamics. For the sake of clarity, the proposed control design is initially presented for a first-order, single-input case. Using this result as a stepping stone, the design is then extended to higher-order, multi-input systems.

Original language	English
Pages	52-57
Number of pages	6
DOIs	https://doi.org/10.1109/isic.2003.1253913
State	Published - 2003
Externally published	Yes
Event	PROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL - Houston, TX, United States Duration: Oct 5 2003 → Oct 8 2003

Conference

Conference	PROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL
Country/Territory	United States
City	Houston, TX
Period	10/5/03 → 10/8/03

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10.1109/isic.2003.1253913

Cite this

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abstract = "In this paper, we present a novel continuous control mechanism that compensates for uncertainty in a class of multi-input nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A Lyapunov-based stability argument is employed to prove semi-global asymptotic tracking. The control mechanism has the interesting feature of {"}learning{"} the unknown system dynamics. For the sake of clarity, the proposed control design is initially presented for a first-order, single-input case. Using this result as a stepping stone, the design is then extended to higher-order, multi-input systems.",

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year = "2003",

doi = "10.1109/isic.2003.1253913",

language = "English",

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note = "PROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL ; Conference date: 05-10-2003 Through 08-10-2003",

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AU - Xian, B.

AU - Dawson, D. M.

AU - De Queiroz, M. S.

AU - Chen, J.

PY - 2003

Y1 - 2003

N2 - In this paper, we present a novel continuous control mechanism that compensates for uncertainty in a class of multi-input nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A Lyapunov-based stability argument is employed to prove semi-global asymptotic tracking. The control mechanism has the interesting feature of "learning" the unknown system dynamics. For the sake of clarity, the proposed control design is initially presented for a first-order, single-input case. Using this result as a stepping stone, the design is then extended to higher-order, multi-input systems.

AB - In this paper, we present a novel continuous control mechanism that compensates for uncertainty in a class of multi-input nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A Lyapunov-based stability argument is employed to prove semi-global asymptotic tracking. The control mechanism has the interesting feature of "learning" the unknown system dynamics. For the sake of clarity, the proposed control design is initially presented for a first-order, single-input case. Using this result as a stepping stone, the design is then extended to higher-order, multi-input systems.

UR - https://www.scopus.com/pages/publications/0345097404

U2 - 10.1109/isic.2003.1253913

DO - 10.1109/isic.2003.1253913

M3 - Paper

AN - SCOPUS:0345097404

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T2 - PROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL

Y2 - 5 October 2003 through 8 October 2003

ER -

A Continuous Asymptotic Tracking Control Strategy for Uncertain Multi-Input Nonlinear Systems

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