The solution of a tracking problem for a second-order nonlinear system with uncertain dynamics and incomplete state measurement is obtained by means of a procedure directly inspired by the solution of the classical minimum-time optimal control problem. Two different types of uncertainty are considered in the paper: in the first case a constant bound on the uncertain dynamics is assumed to be known; in the second case, the bound is a function of both the measurable and the unmeasurable state variable of the system. In both cases, the possibility of applying the proposed control algorithms is proved to be determined by a proper choice of the control signal features. The resulting system is characterized by a suitable feedback switching logic and the convergence of the system trajectory to the desired one (or to a delta-vicinity of this latter) is proved also in the uncertain case.

Output tracking control of uncertain nonlinear second-order systems

USAI, ELIO
1997

Abstract

The solution of a tracking problem for a second-order nonlinear system with uncertain dynamics and incomplete state measurement is obtained by means of a procedure directly inspired by the solution of the classical minimum-time optimal control problem. Two different types of uncertainty are considered in the paper: in the first case a constant bound on the uncertain dynamics is assumed to be known; in the second case, the bound is a function of both the measurable and the unmeasurable state variable of the system. In both cases, the possibility of applying the proposed control algorithms is proved to be determined by a proper choice of the control signal features. The resulting system is characterized by a suitable feedback switching logic and the convergence of the system trajectory to the desired one (or to a delta-vicinity of this latter) is proved also in the uncertain case.
model reference control; sliding mode control; uncertain dynamic systems
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11584/9793
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