An Approach to Design Robust Tracking Controllers for Nonlinear Uncertain Systems

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 50; no. 8; pp. 3010 - 3023
• Main Authors: Celentano, Laura, Basin, Michael V.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.08.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Control design; Control of robots with real actuators; Control systems design; Control theory; Controllers; Eigenvalues; Industrial robots; Mathematical model; Noise measurement; Nonlinear control; Nonlinear systems; nonlinear uncertain systems; practical robust stability; Robots; Robust control; robust control of mechanical uncertain systems; robust tracking control; Robustness; Tracking control; Tracking errors; Uncertain systems; Velocity measurement

This paper provides an approach to design robust smooth controllers that allow a plant belonging to a broad class of nonlinear uncertain systems, with possible real actuators and subject to bounded or rate-bounded disturbances, to track a sufficiently smooth reference signal with an error norm small...