Robust integral control for a class of nonlinear systems with unknown control coefficients  

作　　者：Jiangbo YU Yah ZHAO Yuqiang WU 

机构地区：[1]School of Automation, Southeast University, Nanjing Jiangsu 210096, China [2]Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China

出　　处：《控制理论与应用（英文版）》2012年第3期359-364,共6页

基　　金：supported by the National Natural Science Foundation of China(Nos.60974127,60904022);the Key Project Foundation of the Educational Ministry(No.208074);the Innovation Program of Graduate Students of Jiangsu Province of China(No.CXZZ11-0155)

摘　　要：The robust integral control problem is studied for a class of nonlinear systems with input-to-state stable （ISS） unmodeled dynamics in this paper. It does not require a priori knowledge of the control coefficients. Combining the Nussbaum-type gain technique and the backstepping design, we propose a state feedback controller, which could achieve the global asymptotic tracking for any constant reference signal, irrespective of the unmeasured dynamic disturbance. It is shown that the proposed methodology further extends the existing robust nonlinear integral control results. Simulation results verify the correctness of the theoretical analysis.The robust integral control problem is studied for a class of nonlinear systems with input-to-state stable （ISS） unmodeled dynamics in this paper. It does not require a priori knowledge of the control coefficients. Combining the Nussbaum-type gain technique and the backstepping design, we propose a state feedback controller, which could achieve the global asymptotic tracking for any constant reference signal, irrespective of the unmeasured dynamic disturbance. It is shown that the proposed methodology further extends the existing robust nonlinear integral control results. Simulation results verify the correctness of the theoretical analysis.

关 键 词：Nonlinear systems ISS Dynamic uncertainty Unknown control coefficients Set-point tracking 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置] TS262.5[自动化与计算机技术—控制科学与工程]