Title :
Robust Adaptive Control for Nonlinear Systems with Hα Tracking Performance: Dynamic Surface Design Approach
Author :
Yoo, Sung Jin ; Park, Jin Bae ; Choi, Yoon Ho
Author_Institution :
Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul
Abstract :
The authors propose the robust controller via Hinfin approach for a class of uncertain nonlinear systems in the parametric strict-feedback form. The controller incorporated with adaptive dynamic surface technique and the Hinfin control technique is developed to reduce the influence of the parameter uncertainties and external disturbances on system performance. Finally, the one-link flexible joint manipulator is simulated to confirm the effectiveness and applicability of the proposed control scheme
Keywords :
Hinfin control; adaptive control; control system synthesis; feedback; manipulators; nonlinear control systems; robust control; tracking; uncertain systems; Hinfin control technique; Hinfin tracking; dynamic surface design approach; one-link flexible joint manipulator; parametric strict-feedback form; robust adaptive control; uncertain nonlinear systems; Adaptive control; Control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Robust control; System performance; Uncertain systems; Dynamic surface control; H¿ tracking performance; strict-feedback nonlinear system;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315265
