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http://dx.doi.org/10.5370/KIEE.2017.66.1.153

Robust Low-complexity Design for Tracking Control of Uncertain Switched Pure-feedback Systems with Unknown Control Direction  

Lee, Seung-Woo (School of Electrical and Electronics Engineering, Chung-Ang University)
Yoo, Sung-Jin (School of Electrical and Electronics Engineering, Chung-Ang University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.66, no.1, 2017 , pp. 153-158 More about this Journal
Abstract
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.
Keywords
Low-complexity design; Switched pure-feedback systems; Unknown control direction; Approximation-free;
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