Title :
Robust control of nonlinear dynamic systems
Author :
Pshikhopov, V.K. ; Medvedev, M.Y.
Author_Institution :
Head of Dept. of Electr. Sci. & Mechatron., Univ. TTI SFU, Taganrog, Russia
Abstract :
In this paper a new method of a robust control design for nonlinear multilinked dynamical systems is developed. The design procedure is based on the direct Lyapnov method The results of theoretical analysis, solvability conditions of the control design equations, and robust control algorithms are presented. Theoretic results are implemented on experimental robotic mini-airship.
Keywords :
Lyapunov methods; control system synthesis; nonlinear control systems; robust control; direct Lyapunov method; nonlinear multilinked dynamic system; robust control; Adaptive control; Controllability; Equations; Lyapunov method; Mathematical model; Robust control; Vehicles; nonlinear system; relay control; robust control;
Conference_Titel :
ANDESCON, 2010 IEEE
Conference_Location :
Bogota
Print_ISBN :
978-1-4244-6740-2
DOI :
10.1109/ANDESCON.2010.5633481
