On generalization of integral control to a class of nonlinear uncertain systems

• Autorzy: Zwierzewicz Z.
• Języki publikacji: EN

Abstrakty

EN

The paper concerns a new view on the problem of integral control in the context of nonlinear uncertain systems. It is demonstrated that a standard integral action applied to the linear control system with so-called load disturbances, can be generalized to comprise a class of linearly parameterized nonlinear SISO systems with functional uncertainty. In this case the integral action is turned out to be in fact an adaptation law of unknown parameters. It has been found that the obtained proportional-integral controller's variable gains are the basis functions of the system unknown nonlinearity approximator.

Słowa kluczowe

EN

nonlinear control; uncertain systems; adaptive control; integral action; approximator; functional uncertainty

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2010
• Tom: Vol. 20, no. 2
• Strony: 187--198
• Opis fizyczny: Bibliogr. 11 poz., rys., wzory

Twórcy

autor

Zwierzewicz Z.

• Institute of Mathematics Physics and Chemistry, Faculty of Marine Engineering, Marine University of Szczecin, Wałly Chrobrego, Szczecin, Poland

Bibliografia

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• [4] H. K. KHALIL: Universal integral controllers for minimum-phase nonlinear systems. IEEE Trans. on Automatic Control, 45(3), (2000), 490-494.
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• [6] J. E. SLOTINE and W. LI: Applied nonlinear control. Prentice Hall, New Jersey, 1991.
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• [8] J. ZABCZYK: Mathematical control theory: An introduction. Birkhäuser, Boston, 1992.
• [9] Z. ZWIERZEWICZ: Some aspects of LQR control via an example of ship trajectory tracker design. Optimal Control. Sonderforschungs-bereich, Technische Universitat Munchen, 255 (2002), 167-177.
• [10] Z. ZWIERZEWICZ: Nonlinear adaptive tracking-control synthesis for general linearly parametrized systems. In: Automation and Robotics, (Ed. Juan Manuel Ramos Arreguin), Vienna, (2008), 375-388.
• [11] Z. ZWIERZEWICZ: Nonlinear adaptive tracking-control synthesis for functionally uncertain systems. Int. J. of Adaptive Control and Signal Processing, DOI: 10.1002/acs.1114, (2009), (in print). Reachability of linear hybrid systems described by the general model @cytowania=15