控制理论(社会学)
李雅普诺夫函数
分段
数学
控制器(灌溉)
跟踪误差
鲁棒控制
补偿(心理学)
自适应控制
稳定性理论
数学优化
计算机科学
控制系统
非线性系统
控制(管理)
工程类
人工智能
心理学
数学分析
物理
电气工程
量子力学
精神分析
农学
生物
作者
Satoshi Hayakawa,Toshio Nakagawa,Kazuma Hasegawa,Hidetoshi Oya,Yoshikatsu Hoshi
标识
DOI:10.1080/00207179.2023.2231102
摘要
This paper deals with a new design problem of adaptive gain robust model-following/tracking controllers for a class of systems with matched and unmatched uncertainties via piecewise Lyapunov functions. In the proposed design approach, compensation inputs for matched and mismatched uncertainties for the system are introduced and the proposed adaptive gain model-following/tracking robust controller can achieve that the tracking error decreases asymptotically to zero in spite of uncertainties. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show linear matrix inequality-based sufficient conditions for the existence of the proposed controller. Finally, a numerical example is given to demonstrate the effectiveness of the proposed method.
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