A new smooth robust control design for uncertain nonlinear systems with non-vanishing disturbances

作者：Xian, Bin^*; Zhang, Yao

来源：International Journal of Control, 2016, 89(6): 1285-1302.

DOI：10.1080/00207179.2015.1128561

• Smooth algorithm
• Lyapunov analysis
• non-varnishing disturbance
• USPAS

In this paper, we consider the control problem for a general class of nonlinear system subjected to uncertain dynamics and non-varnishing disturbances. A smooth nonlinear control algorithm is presented to tackle these uncertainties and disturbances. The proposed control design employs the integral of a nonlinear sigmoid function to compensate the uncertain dynamics, and achieve a uniformly semi-global practical asymptotic stable tracking control of the system outputs. A novel Lyapunov-based stability analysis is employed to prove the convergence of the tracking errors and the stability of the closed-loop system. Numerical simulation results on a two-link robot manipulator are presented to illustrate the performance of the proposed control algorithm comparing with the layer-boundary sliding mode controller and the robust of integration of sign of error control design. Furthermore, real-time experiment results for the attitude control of a quadrotor helicopter are also included to confirm the effectiveness of the proposed algorithm.

• 出版日期2016-6-2
• 单位天津大学