Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design
This paper investigates a novel nonrecursive tracking control law design for a class of nonlinear systems via dynamic output feedback. As the main contribution of this paper, a global nonrecursive tracking design procedure is first proposed to render a simple construction of a realizable output feed...
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sg-ntu-dr.10356-1612542022-08-22T07:37:44Z Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design Zhang, Chuanlin Yang, Jun Wen, Changyun Wang, Lei Li, Shihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Exact Tracking Control Homogeneous System Theory This paper investigates a novel nonrecursive tracking control law design for a class of nonlinear systems via dynamic output feedback. As the main contribution of this paper, a global nonrecursive tracking design procedure is first proposed to render a simple construction of a realizable output feedback control law, whose gain selections follow the conventional pole placement approach while the stability margin can be guaranteed via a sufficiently large scaling gain. By introducing a Lyapunov function which neglects the virtual controllers in essence, rigorous analysis is presented to ensure the global stability. In addition, finite-time and asymptotical tracking results can now be achieved within the same design framework whereas the tunable homogeneous degree plays as a key role. As another contribution, by proposing a saturated dynamic compensator, a less ambitious but practical control objective, namely semiglobal stability is achieved of the closed-loop system to relax the requirement of the restrictive growth conditions for global control design. Taking consideration of the case when system is subject to mismatched disturbances, a unified design and stability analysis framework shows that the practical tracking result can also be realized. A numerical example is provided to illustrate the effectiveness of the nonrecursive design and the simplicity of the proposed tracking control algorithm. This work was supported by the National Natural Science Foundation of China under Grant 61503236, Grant 61473080, and Grant 61573099. 2022-08-22T07:37:44Z 2022-08-22T07:37:44Z 2017 Journal Article Zhang, C., Yang, J., Wen, C., Wang, L. & Li, S. (2017). Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design. IEEE Transactions On Systems, Man, and Cybernetics: Systems, 50(2), 577-589. https://dx.doi.org/10.1109/TSMC.2017.2757966 2168-2216 https://hdl.handle.net/10356/161254 10.1109/TSMC.2017.2757966 2-s2.0-85032303065 2 50 577 589 en IEEE Transactions on Systems, Man, and Cybernetics: Systems © 2017 IEEE. All rights reserved. |
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Engineering::Electrical and electronic engineering Exact Tracking Control Homogeneous System Theory Zhang, Chuanlin Yang, Jun Wen, Changyun Wang, Lei Li, Shihua Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
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This paper investigates a novel nonrecursive tracking control law design for a class of nonlinear systems via dynamic output feedback. As the main contribution of this paper, a global nonrecursive tracking design procedure is first proposed to render a simple construction of a realizable output feedback control law, whose gain selections follow the conventional pole placement approach while the stability margin can be guaranteed via a sufficiently large scaling gain. By introducing a Lyapunov function which neglects the virtual controllers in essence, rigorous analysis is presented to ensure the global stability. In addition, finite-time and asymptotical tracking results can now be achieved within the same design framework whereas the tunable homogeneous degree plays as a key role. As another contribution, by proposing a saturated dynamic compensator, a less ambitious but practical control objective, namely semiglobal stability is achieved of the closed-loop system to relax the requirement of the restrictive growth conditions for global control design. Taking consideration of the case when system is subject to mismatched disturbances, a unified design and stability analysis framework shows that the practical tracking result can also be realized. A numerical example is provided to illustrate the effectiveness of the nonrecursive design and the simplicity of the proposed tracking control algorithm. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Zhang, Chuanlin Yang, Jun Wen, Changyun Wang, Lei Li, Shihua |
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Article |
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Zhang, Chuanlin Yang, Jun Wen, Changyun Wang, Lei Li, Shihua |
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Zhang, Chuanlin |
title |
Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
title_short |
Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
title_full |
Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
title_fullStr |
Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
title_full_unstemmed |
Realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
title_sort |
realization of exact tracking control for nonlinear systems via a nonrecursive dynamic design |
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2022 |
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https://hdl.handle.net/10356/161254 |
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1743119614712217600 |