Synchronization of nonlinear Lurie systems on the basis of passification and backstepping

The problems of passification and synchronization of nonlinear systems are solved with the aid of the backstepping method for cascade systems of the Lurie type with functional uncertainty. Estimates of the errors caused by bounded disturbances and controller discreteness are given. The stated theore...

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Bibliographic Details
Published inAutomation and remote control Vol. 73; no. 8; pp. 1305 - 1315
Main Author Usik, E. V.
Format Journal Article
LanguageEnglish
Published Dordrecht SP MAIK Nauka/Interperiodica 01.08.2012
Subjects
CAE) and Design
Calculus of Variations and Optimal Control; Optimization
Computer-Aided Engineering (CAD
Control
Mathematics
Mathematics and Statistics
Mechanical Engineering
Mechatronics
Nonlinear Systems
Robotics
Systems Theory
Synchronization Error
Mobile Robot
Lyapunov Function
Remote Control
Asymptotic Stability
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Summary:The problems of passification and synchronization of nonlinear systems are solved with the aid of the backstepping method for cascade systems of the Lurie type with functional uncertainty. Estimates of the errors caused by bounded disturbances and controller discreteness are given. The stated theorem is extended to the case of net systems. The obtained results are applied to the synchronization problem of movement of two mobile wheeled robots and are illustrated by way of computational modeling.
ISSN:0005-1179
1608-3032
DOI:10.1134/S0005117912080048