期刊
AUTOMATICA
卷 105, 期 -, 页码 314-322出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2019.04.006
关键词
Lagrange systems; Random differential equations; Trajectory tracking; Adaptive
资金
- National Natural Science Foundation of China [61673332, 61773131, U1509217]
- Australian Research Council [DP170102644]
- 111 Project [B17048, B17017]
The problem of trajectory tracking is considered in this paper for Lagrange systems disturbed by second moment processes. For random differential equations, the concept of noise-to-state practical stability and its criterion are proposed. A state-feedback tracking control is designed by using vectorial backstepping method, which covers Slotine-Li controller and PD+ controller as special cases. As natural extension, adaptive control is further researched, and a practical equivalence principle is presented. For the above two cases, results of global noise-to-state stability of closed-loop systems are obtained, and practical trajectory tracking can be achieved under a practical parameters-tuning principle. Simulations are conducted for a nonlinear benchmark system to illustrate the effectiveness and advantages of the proposed new control strategies. (C) 2019 Elsevier Ltd. All rights reserved.
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