Title :
A Nussbaum technique for unknown time-varying control direction with switching sign
Author_Institution :
State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China
Abstract :
In this paper, a robust control approach is proposed for a class of nonlinear systems that contain both nonlinear dynamics uncertainty and an unknown time-varying control direction, which is the multiplier of the control term. In particular, the unknown control direction is allowed to switch its sign for an unlimited number of times. A new Nussbaum gain is designed and integrated with robust controller to tackle the sign-switching unknown control direction. It is proven that the proposed control approach can yield asymptotic convergence and guarantee the boundedness of the closed-loop signals.
Keywords :
closed loop systems; convergence; nonlinear dynamical systems; robust control; time-varying systems; uncertain systems; Nussbaum gain; asymptotic convergence; closed loop signals; nonlinear dynamics uncertainty; robust control approach; robust controller; sign switching unknown control direction; unknown control direction; unknown time varying control direction; Convergence; Nonlinear systems; Robust control; Robustness; Switches; Uncertain systems; Control Direction; Nussbaum Gain; Robust Control; Uncertain Nonlinear System;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
