Lin Zhang, Gang Li, Y. Han, Yuxin Zhao, Ziqian Chen
{"title":"Robust Adaptive Tracking Control of a Class of Uncertain Multi-Mode Nonlinear Systems with Unknown Disturbances","authors":"Lin Zhang, Gang Li, Y. Han, Yuxin Zhao, Ziqian Chen","doi":"10.1109/ICIST.2018.8426122","DOIUrl":null,"url":null,"abstract":"This paper studies robust adaptive tracking control for a family of multi-mode nonlinear systems. Adaptive laws using tuning functions are proposed to address the parametric uncertainties and unknown disturbances, which can avoid the problem of over-parameterization. In addition, the variation law of the modes is developed based on the mode-dependent sojourn time scheme, which exploits the information of each subsystem, i.e., sojourn time is realized in a subsystem sense. Based on the proposed time-constraint scheme, variation signals that are less conservative than those based on sojourn time are designed. Globally uniformly ultimately bounded stability of the closed-loop multi-mode system is guaranteed. Furthermore, the steady-state performance characterized by an ultimate bound of the tracking error is presented. A numerical simulation demonstrates the effectiveness of the proposed method.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 Eighth International Conference on Information Science and Technology (ICIST)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIST.2018.8426122","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper studies robust adaptive tracking control for a family of multi-mode nonlinear systems. Adaptive laws using tuning functions are proposed to address the parametric uncertainties and unknown disturbances, which can avoid the problem of over-parameterization. In addition, the variation law of the modes is developed based on the mode-dependent sojourn time scheme, which exploits the information of each subsystem, i.e., sojourn time is realized in a subsystem sense. Based on the proposed time-constraint scheme, variation signals that are less conservative than those based on sojourn time are designed. Globally uniformly ultimately bounded stability of the closed-loop multi-mode system is guaranteed. Furthermore, the steady-state performance characterized by an ultimate bound of the tracking error is presented. A numerical simulation demonstrates the effectiveness of the proposed method.