Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 9, Issue 2, Pages 366-375Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-011-0219-y
Keywords
Backstepping; linear controller; nonlinear system; robust; tracking
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Funding
- National Natural Science Foundation of China [60674017, 60736024]
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Output tracking controller design problem is dealt with for a class of nonlinear systems in strict-feedback form in the presence of time-varying nonlinear uncertainties and unmodeled dynamics with multi-operation points. A new method based on signal compensation is proposed to design a robust controller, which consists of a nominal controller and a robust compensator. It is shown that semiglobal robust tracking property can be achieved. A new feature of our results is that the controller is a linear and time-invariant one and explosion of complexity problem is avoided.
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