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Semi-global robust output tracking for non-linear uncertain systems in strict-feedback form

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2 Author(s)
Yu, Y. ; Dept. of Autom., Tsinghua Univ., Beijing, China ; Zhong, Y.

The problem of output tracking control is addressed for a class of non-linear strict-feedback form systems in the presence of non-linear uncertainties, external disturbances, unmodelled dynamics and unknown time-varying virtual control coefficients. A new design approach of robust controller is proposed by combining standard backstepping with signal compensation method. It is shown that semi-global robust stability and semi-global robust practical tracking property of the closed-loop system can be ensured and the tracking error can be made as small as desired. The designed controller is linear and time invariant, and so can be implemented easily.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 5 )

Date of Publication:

March 15 2012

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