ADAPTIVE PRACTICAL OUTPUT MANEUVERING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS  

作　　者：Chunling WEI Yuqiang WU Shumin FEI 

机构地区：[1]Instituteof Automation, Southeast University, Nanjing 210096, China [2]Institute of Automation, Qufu Normal University, Qufu 273165, China [3]Institute of Automation, Southeast University, Nanjing 210096, China.

出　　处：《Journal of Systems Science & Complexity》2007年第1期75-84,共10页系统科学与复杂性学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China （No. 60304003, 60574007, and 60574080）.

摘　　要：This paper deals with the adaptive practical output maneuvering control problems for a class of nonlinear systems with uncontrollable unstable linearization. The objective is to design a smooth adaptive maneuvering controller to solve the geometric and dynamic tasks with an arbitrary small steady tracking error. The method of adding a power integrator and the robust recursive design technique are employed to force the system output to track a desired path and make the tracking speed to follow a desired speed along the path. An example is considered and simulation results are given. The proposed design procedure can be illustrated by the use of this example.

关 键 词：Adaptive output maneuvering control adding a power integrator method practical output tracking recursive design technique. 

分 类 号：O231.2[理学—运筹学与控制论]