Practical trajectory tracking of random Lagrange systems

• Autores: Zhaojing Wu, Hamid Reza Karimi, Peng Shi
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 105, 2019, págs. 314-322
• Idioma: inglés
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• Resumen

  • The problem of trajectory tracking is considered in this paper for Lagrange systems disturbed by second moment processes. For random differential equations, the concept of noise-to-state practical stability and its criterion are proposed. A state-feedback tracking control is designed by using vectorial backstepping method, which covers Slotine–Li controller and “PD+” controller as special cases. As natural extension, adaptive control is further researched, and a practical equivalence principle is presented. For the above two cases, results of global noise-to-state stability of closed-loop systems are obtained, and practical trajectory tracking can be achieved under a practical parameters-tuning principle. Simulations are conducted for a nonlinear benchmark system to illustrate the effectiveness and advantages of the proposed new control strategies.