Robust low-complexity design for tracking control of uncertain switched pure-feedback systems with unknown control direction

초록

This paper investigates a robust low-complexity design problem for tracking control of uncertain switched pure-feedback systems in the presence of unknown control direction. The completely unknown non-affine nonlinearities are assumed to be arbitrarily switched. By combining the nonlinear error transformation technique and Nussbaum-type functions, a robust tracking controller is designed without using any adaptive function approximators. Thus, compared with existing results, the proposed control scheme has the low-complexity property. From Lyapunov stability theory, it is shown that the tracking error remains within the preassigned transient and steady-state error bounds. Copyright © The Korean Institute of Electrical Engineers.

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