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| Received:September 06, 2010Revised:December 31, 2010 |
| 基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 60974127, 60904022), the Key Project Foundation of the Educational Ministry (No. 208074), and the Innovation Program of Graduate Students of Jiangsu Province of China (No. CXZZ11-0155). |
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| Robust integral control for a class of nonlinear systems with unknown control coefficients |
| Jiangbo YU,Yan ZHAO,Yuqiang WU |
| (School of Automation, Southeast University;Institute of Automation, Qufu Normal University) |
| Abstract: |
| The robust integral control problem is studied for a class of nonlinear systems with input-to-state stable (ISS) unmodeled dynamics in this paper. It does not require a priori knowledge of the control coefficients. Combining the Nussbaum-type gain technique and the backstepping design, we propose a state feedback controller, which could achieve the global asymptotic tracking for any constant reference signal, irrespective of the unmeasured dynamic disturbance. It is shown that the proposed methodology further extends the existing robust nonlinear integral control results. Simulation results verify the correctness of the theoretical analysis. |
| Key words: Nonlinear systems ISS Dynamic uncertainty Unknown control coefficients Set-point tracking |
