期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 64, 期 8, 页码 3484-3491出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2882479
关键词
Saturated control; stabilization; uncertain nonlinear systems; underactuated systems
资金
- National Natural Science Foundation of China [61374024, 61321003]
This note presents saturated controllers to stabilize uncertain feedforward nonlinear systems whose nominal dynamics contains uncertain gains and is subject to linear perturbations. We assign a class of saturated controllers within which multiplicative coefficients appear before both states and saturation functions, and the convergence analysis is conducted in the following way: to verify the reduction of saturated terms, we calculate the time derivative of a boundary surface in a small domain when the states reach the boundary surface; to prove the asymptotic stability of the corresponding reduced system, we use an M-matrix-based comparison principle. In this way, the suggested algorithm does not depend on the small-gain theory, and is suitable for dealing with strongly nonlinear underactuated systems including the cart-pendulum system, the overhead crane system. and the uncertain vertical takeoff and landing vehicle.
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