Tracking Control Strategy Using Filter-Based Approximation for the Unknown Control Direction Problem of Uncertain Pure-Feedback Nonlinear Systems
Abstract
:1. Introduction
- (i)
- Different from the existing control schemes using the adaptive function approximation technique for uncertain lower-triangular nonlinear systems with unknown control directions [13,14,15,16,17,18,19,20,21,33,34,35], we present a new nonadaptive control strategy using first-order filtered signals of error surfaces, a control input, and state variables. Therefore, the proposed control approach does not require the calculation of the differential equations for tuning adaptive parameters. Accordingly, a simplified tracking control structure is established in the presence of unknown non-affine nonlinearities and unknown control directions.
- (ii)
- Contrary to the previous filter-based control approach [41], the proposed control scheme can handle the unknown control direction problem in the filter-based control framework. A new design approach that incorporates Nussbaum functions and filtered signals and its stability analysis are presented.
2. Problem Formulation
3. Filter-Based Tracking Control Design for the Problem of Unknown Control Directions
3.1. Controller Design
3.2. Stability Analysis
4. Simulation Results
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
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Choi, Y.H.; Yoo, S.J. Tracking Control Strategy Using Filter-Based Approximation for the Unknown Control Direction Problem of Uncertain Pure-Feedback Nonlinear Systems. Mathematics 2020, 8, 1341. https://doi.org/10.3390/math8081341
Choi YH, Yoo SJ. Tracking Control Strategy Using Filter-Based Approximation for the Unknown Control Direction Problem of Uncertain Pure-Feedback Nonlinear Systems. Mathematics. 2020; 8(8):1341. https://doi.org/10.3390/math8081341
Chicago/Turabian StyleChoi, Yun Ho, and Sung Jin Yoo. 2020. "Tracking Control Strategy Using Filter-Based Approximation for the Unknown Control Direction Problem of Uncertain Pure-Feedback Nonlinear Systems" Mathematics 8, no. 8: 1341. https://doi.org/10.3390/math8081341