The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Robust Low-complexity Design for Tracking Control of Uncertain Switched Pure-feedback Systems with Unknown Control Direction

미지의 방향성을 갖는 불확실한 스위치드 순궤환 시스템의 추종 제어를 위한 강인 저 복잡성 설계

  • Lee, Seung-Woo (School of Electrical and Electronics Engineering, Chung-Ang University) ;
  • Yoo, Sung-Jin (School of Electrical and Electronics Engineering, Chung-Ang University)
  • Received : 2016.11.25
  • Accepted : 2016.12.15
  • Published : 2017.01.01
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Abstract

This paper investigates a robust low-complexity design problem for tracking control of uncertain switched pure-feedback systems in the presence of unknown control direction. The completely unknown non-affine nonlinearities are assumed to be arbitrarily switched. By combining the nonlinear error transformation technique and Nussbaum-type functions, a robust tracking controller is designed without using any adaptive function approximators. Thus, compared with existing results, the proposed control scheme has the low-complexity property. From Lyapunov stability theory, it is shown that the tracking error remains within the preassigned transient and steady-state error bounds.

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References

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