Asymptotic Tracking Control for a More Representative Class of Uncertain Nonlinear Systems With Mismatched Uncertainties

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 12; pp. 9417 - 9427
• Main Authors: Xiao, Bing, Yang, Xuebo, Karimi, Hamid Reza, Qiu, Jianbin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Asymptotic convergence; Asymptotic properties; Control design; MIMO communication; mismatched uncertainties; Nonlinear systems; observer; Observers; Robot arms; Robots; Tracking control; Tracking systems; Uncertainty

This paper is mainly focusing on the problem of high-accuracy tracking control design for a class of nonlinear systems subject to mismatched uncertainties. A novel asymptotic control framework is presented. This is achieved by developing an estimator-based controller with an observer-based estimator...