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This paper deals with an almost disturbance decoupling issue for uncertain single-input single-output nonlinear control systems. The class of systems we consider has a weak triangular structure. Its unobserved subsystem is assumed to have a finite L2-gain in some sense. By making use of the backstepping technique, some sufficient conditions are given to solve the H∞ almost disturbance decoupling problem...
We consider the tracking control of chained nonholonomic systems using integrator backstepping techniques. For any a priori given compact set. we can find a tracking controller such that the closed-loop error dynamics are uniformly asymptotically stable with a domain of attraction containing this set. A systematic controller design scheme is proposed via backstepping. Comparisons with previous tracking...
This paper presents a new method for robust control of a class of uncertain nonlinear systems in strict-feedback form with state measurement errors. The measurement feedback control problem is solved by recursively designing input-to-state stability (ISS) induced nonlinear state estimators and virtual control laws. With the gain assignment technique, the closed-loop system can be transformed into...
In this paper, virtual structure and artificial potential field (APF) based strategies are integrated to realize formation tracking control for a team of unicycles with collision avoidance property. Using virtual structure, each vehicle is required to track a virtual local leader (VLL) for formation maintenance. For inter-vehicle collision avoidance, the motion of each vehicle is restricted in a specified...
This paper deals with nonholonomic control systems in chained form with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state and output feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with nonholonomic...
In this paper, a modified adaptive backstepping design procedure is proposed for a class of nonlinear systems with three types of uncertainty: (i) unknown parameters; (ii) uncertain nonlinearities and (iii) unmodeled dynamics. Nonlinear damping terms are used to counteract the uncertain nonlinear functions and a dynamic signal is introduced to dominate the dynamic disturbance. The derived adaptive...
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