Continuous input-output robust tracking control of SISO continuous-time systems with fast time-varying parameters: a model reference approach

The output tracking problem of time-varying systems is investigated. The system under consideration contains time-varying parameters which may change arbitrarily fast and is subject to nonlinear disturbances. A robust controller requiring only input-output measurement is proposed. The control guarantees exponential stability or stability of uniform ultimate boundedness which can be made through choosing a design constant to be arbitrarily close to asymptotic stability. The resulting control is continuous, and uniformly bounded, and designed by a recursive mapping procedure. The only information of unknown systems required by the robust control approach is the bounding function of nonlinear disturbances and the bounds on the parameters and their derivatives. Time-varying parameters are not restricted to be either slow time-varying or of known structure.<<ETX>>

[1]  D. Dawson,et al.  Lyapunov direct design of robust tracking control for classes of cascaded nonlinear uncertain systems without matching conditions , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[2]  M. Corless,et al.  Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems , 1981 .

[3]  Li-Chen Fu,et al.  A new approach to model reference control for a class of arbitrarily fast time-varying unknown plants , 1992, Autom..

[4]  G. Stewart.  Introduction to matrix computations , 1973 .

[5]  Z. Qu.  Global stabilization of nonlinear systems with a class of unmatched uncertainties , 1992 .

[6]  Z. Qu.  Robust control of a class of nonlinear uncertain systems , 1992 .

[7]  Petar V. Kokotovic,et al.  Systematic design of adaptive controllers for feedback linearizable systems , 1991 .

[8]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[9]  S. Gutman.  Uncertain dynamical systems--A Lyapunov min-max approach , 1979 .

[10]  Z. Qu,et al.  Robust Control of Generalized Dynamic Systems Without the Matching Conditions , 1991 .

[11]  B. R. Barmish,et al.  Robust asymptotic tracking for linear systems with unknown parameters , 1986, Autom..

[12]  Petros A. Ioannou,et al.  Adaptive control of linear time-varying plants: a new model reference controller structure , 1989 .

[13]  Z. Qu.  Model Reference Robust Control of SISO Systems with Significant Unmodelled Dyamics , 1993, 1993 American Control Conference.

[14]  Petros A. Ioannou,et al.  Adaptive control of linear time-varying plants , 1987, Autom..

[15]  D. Dawson,et al.  On the state observation and output feedback problems for nonlinear uncertain dynamic systems , 1992 .

[16]  Petros A. Ioannou,et al.  A new indirect adaptive control scheme for time-varying plants , 1990 .

[17]  B. Barmish,et al.  Guaranteed Asymptotic Output Stability for Systems With Constant Disturbances , 1987 .

[18]  Zhihua Qu,et al.  Robust Control of Nonlinear Uncertain Systems Under Generalized Matching Conditions , 1993, 1993 American Control Conference.