A general approach to precise tracking of nonlinear systems subject to non-vanishing uncertainties

• Autores: Yujuan Wang, Yongduan Song
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 106, 2019, págs. 306-314
• Idioma: inglés
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• Resumen

  • In this work we introduce a new and systematic methodology for precise tracking control of normal-form nonlinear systems subject to non-vanishing/non-parametric uncertainties. We propose a general solution to achieving robust tracking with a rate of convergence that can be pre-assigned as fast as desired (e.g. super exponential or even closer to a pre-specified finite time). The key design tool is the utilization of a time-varying feedback gain through a time-varying scaling function that satisfies certain conditions. Our method also features with complete rejection (rather than partial attenuation) of uncertainties/disturbances and regulation of the tracking error to zero. A generic and analytical procedure to construct the time-varying rate function is provided, extending and generalizing the existing results in the literature.