Global Adaptive Practical Output Tracking Control for a Class of Genuinely Nonlinear Uncertain Systems: Adding an Universal Power Integrator Approach

IEEE Access

Jing-Chao Sun¹  Ning Wang¹  Meng Joo Er² 

[1] Marine Engineering College, Dalian Maritime University, Dalian, China;School of EEE, Nanyang Technological University, Singapore;

关键词: Uncertain nonlinear systems;    integrator powers;    adding an universal power integrator;    universal adaptive control;   

DOI  :  10.1109/ACCESS.2016.2637890

来源: DOAJ

【 摘 要 】

In this paper, the output tracking problem for a large class of uncertain nonlinear systems with arbitrary integrator powers and nonlinearly parameterized unknown dynamics is addressed by employing an innovative tool called adding an universal power integrator (AUPI). By virtue of the AUPI methodology, flexible degrees of homogeneous are incorporated to mask rich diversities in integrator powers rather than simply positive odd integers involved in previous works. Moreover, a universal gain is adaptively updated according to the tracking error, which can converge into an arbitrarily small region including the origin, and thereby contributing to bounded but large enough controller gain and prescribed tracking accuracy. Numerical examples demonstrate the effectiveness of the proposed AUPI-based adaptive tracking control scheme.

【 授权许可】

Unknown