Direct Optimization Based Compensation Adaptive Robust Control of Nonlinear Systems With State and Input Constraints

• Published in: IEEE transactions on industrial informatics Vol. 17; no. 8; pp. 5441 - 5449
• Main Authors: Liu, Xingyi, Chen, Zheng, Liu, Yingqiang, Duan, Fuxin, Yang, Can, Yao, Bin
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.08.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; Adaptive robust control (ARC); Compensation; Control theory; Electric motors; Friction; Informatics; input saturation; linear motor; Motion control; Nonlinear control; Nonlinear systems; Nonlinearity; online; Optimization; Robust control; state constraints; Tracking; Uncertainty

Motion control of mechatronic system with state and input constraints while achieving excellent integrated performance, such as robustness, high tracking accuracy, fast response, and slow overshoot, has always been a challenging issue. However, most existing relating studies merely focus on how to e...