Journal
AUTOMATICA
Volume 41, Issue 6, Pages 1079-1084Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2004.12.012
Keywords
nonlinear robust control; subspace projection; uncertainty estimation
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Robust control based on an online estimation of uncertainty is presented for a class of nonlinear uncertain systems. The estimation is done via a robust observer after the uncertainty vector is projected onto a one-dimensional subspace. The proposed combination of dynamics projection and online estimation is to relax the knowledge about the size of uncertainty and required in the robust control design, to make robust control less conservative while being effective, and to ensure robust stability without undue complexity. (c) 2005 Elsevier Ltd. All rights reserved.
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