Uniform robust exact differentiator based adaptive robust control for a class of nonlinear systems

作者：Xu, Zhangbao; Ma, Dawei; Yao, Jianyong^*

来源：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40(9): 2901-2911.

DOI：10.1177/0142331217711244

• Nonlinear systems
• adaptive robust control
• uniform robust exact differentiator
• virtual controls
• differential explosion

In this paper, an adaptive robust controller with uniform robust exact differentiator has been proposed for a class of nonlinear systems with structured and unstructured uncertainties. The adaptive robust controller is integrated with an uniform robust differentiator to handle the problem of the incalculable part of the derivative of virtual controls and the differential explosion happened in backstepping techniques. The stability of the closed loop system is demonstrated via Lyapunov method ensuring a prescribed transient and tracking performance. Simulation and experimental results are carried out to verify the advantages of the proposed method.

• 出版日期2018-6
• 单位南京理工大学