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In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown...
This paper studies the tracking problem for a class of stochastic nonlinear interconnected systems with unknown parameters involved. By employing the stochastic Lyapunov-like theorem and the backstepping design technique, a decentralized state-feedback controller and parameter adaptive law are developed. The output of the closed-loop system is proven to follow the desired trajectory asymptotically...
This paper considers an ldquohomotopy methodrdquo for solving the exact tracking problem for nonlinear affine nonminimum phase systems. The method is presented in a general setting and is applied to the special case of the spherical pendulum. This approach allows finding sufficient conditions for exact tracking for T-periodic curves and bounds on the internal dynamics.
This paper is concerned with the output tracking control problem for a class of nonlinear switched cascade systems with external disturbances under some average dwell-time based switching laws. The problem is solved based on the variable structure control technique and the characteristic of the system. The variable structure controllers and the average dwell-time are designed under which the output...
This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems with relative degree one without knowing the control direction. The result is also applied to an asymptotic tracking problem associated with the well known Lorenz system.
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