Modeling and prescribed H-infinity tracking control for strict feedback nonlinear systems
Articles
Chuang Gao
University of Science and Technology Liaoning, China
Yufu Jia
University of Science and Technology Liaoning, China
Xiaoping Liu
University of Science and Technology Liaoning, China; Lakehead University, Canada
Ming Chen
University of Science and Technology Liaoning, China
Published 2017-05-10
https://doi.org/10.15388/NA.2017.3.3
PDF

Keywords

backstepping
prescribed performance
dynamic surface control
nonlinear system
H-infinity control

How to Cite

Gao C., Jia Y., Liu X. and Chen M. (2017) “Modeling and prescribed H-infinity tracking control for strict feedback nonlinear systems”, Nonlinear Analysis: Modelling and Control, 22(3), pp. 317-333. doi: 10.15388/NA.2017.3.3.

Abstract

By utilizing backstepping technique, an H robust controller with improved prescribed performance and dynamic surface control is designed for a class of strict feedback nonlinear systems. The transient and steady state performance for the tracking errors of nonlinear system can be guaranteed by using improved prescribed performance constraint. The dynamic surface control is used to overcome the differential explosion problem in the backstepping procedure. The impacts of uncertainties in the system are attenuated by Hcontrol. The performance and stability analysis proves that the controller design procedure is simple with low complexity and robustness. Finally, the simulation results verify the effectiveness of the controller. By comparing with the existing method, the proposed method has a faster convergence speed and better steady state performance, and also the controller design process is simpler.

PDF
Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

Please read the Copyright Notice in Journal Policy