B. Brogliato et At. Neto, PRACTICAL STABILIZATION OF A CLASS OF NONLINEAR-SYSTEMS WITH PARTIALLY KNOWN UNCERTAINTIES, Automatica, 31(1), 1995, pp. 145-150
Citations number
36
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
In this paper we deal with robust control of a class of nonlinear syst
ems which contain uncertainties. It can be viewed as an extension of t
he work in Corless and Leitmann [IEEE Trans. Autom. Control, AC-26, 11
39-1144 (1981)] for the cases where the vector of uncertainties is onl
y partially known. To cope with the uncertainties, an adaptive control
ler using a dead-zone and a hysteresis function is proposed, and both
the uniform boundedness of all the closed-loop signals and uniform ult
imate boundedness of the system state are guaranteed. In contrast with
some previous attempts to relax the a priori knowledge on the uncerta
inties bounds by using a discontinuous control law, we propose continu
ous control laws in this paper. Hence, chattering problems (which have
practical importance) can be avoided.