Robust Trajectory Tracking for a Class of Uncertain Nonlinear Systems
Nolcos 2007, 2007
Author(s): | Grünbacher E., del Re L. |
Year: | 2007 |
Abstract: | In this paper we consider the output tracking problem of an uncertain nonlinear system under the action of an inverse control thus making a robustifying feedback component necessary. Conventionally, the robustifying control is designed taking into account an operating point. We present a nonlinear robustifying
controller for tracking any trajectories inside its stability range. The design procedure of this nonlinear controller is based on a simple extension of a stabilizing
H2 or H-inf controller. If su±cient conditions are satisfied, robustness in terms of the L2 gain from the disturbance input to the tracking error performance variable can be guaranteed and calculated a priori. Finally simulation results verify the proposed method. |