By Topic

Recursive design of discontinuous controllers for uncertain driftless systems in power chained form

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Wei Lin ; Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA ; Pongvuthithum, R.

Investigates the problem of almost asymptotic stabilization for a class of uncertain driftless systems in power chained form. The main obstacles for the control of this new type of driftless systems are: i) nonexistence of any time-invariant smooth (or even continuous) state feedback control law; ii) lack of affineness in the control input; and iii) high-order nonlinearities that make most of the nonlinear design methods inapplicable. To overcome these difficulties we propose a constructive approach that combines a discontinuous change of coordinates and the recent adding a power integrator technique. Sufficient conditions are given under which discontinuous robust and adaptive controllers can be explicitly constructed, achieving almost stabilization and adaptive regulation. Solutions to the problems of global robust regulation and adaptive regulation are also obtained by using switching control schemes.

Published in:

Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 10 )