Title :
A robust controller for uncertain nonlinear systems and its application to a motor-driven system
Author :
Li, Yushan ; Commuri, Sesh ; Cheung, John Y. ; Verma, Pramode
Abstract :
This paper introduces a robust controller for a class of nonlinear systems in the presence of unmatched uncertainties. The requirement of the proposed control is that the uncertainties are bounded by some known functions. The uncertainties are divided into the matched parts and the unmatched parts, and then are compensated respectively by the specially constructed robust controller. The design of the robust controller includes a class of continuous function φ (t), such that the robust controller can guarantee the asymptotic stability of the closed-loop control system. Then, the robust controller design is applied to the motor-driven electromechanical system of a certain two-axes, yaw-pitch motion test bed. The simulation results are given.
Keywords :
asymptotic stability; control system synthesis; nonlinear control systems; robust control; uncertain systems; asymptotic stability; class of continuous function; closed-loop control system; motor-driven electromechanical system; nonlinear systems; robust controller design; two-axes yaw-pitch motion test bed; unmatched uncertainties; Asymptotic stability; Control systems; Electromechanical systems; Motion control; Nonlinear control systems; Nonlinear systems; Robust control; Robust stability; System testing; Uncertainty;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470145