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Global asymptotic regulation control for nonlinear systems with iISS inverse dynamics

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Abstract

This paper investigates a global asymptotic regulation control problem for a class of nonlinear systems with dynamic uncertainties. The requirement of a priori knowledge of control directions is removed and the inverse dynamics satisfy the weaker integral input-to-state stable condition. By application of the changing supply rates and the Nussbaum-type gain techniques, a partial state-feedback regulator is constructed. The main results demonstrate that the designed controller ensures the system state converges to the origin whereas the other signals of the closed-loop system are bounded. Simulation results are illustrated to show the effectiveness of the proposed approach.

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Authors and Affiliations

  1. School of Automation, Southeast University, Nanjing, 210096, China

    Jiangbo Yu

  2. Institute of Automation, Qufu Normal University, Qufu, 273165, China

    Yuqiang Wu

Authors
  1. Jiangbo Yu
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  2. Yuqiang Wu
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Corresponding author

Correspondence to Jiangbo Yu.

Additional information

This research is supported by the National Natural Science Foundation of China under Grant Nos. 60674027, 60974127, and 60904022, the Key Project Foundation of the Educational Ministry under Grant No. 208074, and the Innovation Program of Graduate Students of Jiangsu Province of China under Grant No. CXZZ11 0155.

This paper was recommended for publication by Editor Yiguang HONG.

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Yu, J., Wu, Y. Global asymptotic regulation control for nonlinear systems with iISS inverse dynamics. J Syst Sci Complex 25, 249–261 (2012). https://doi.org/10.1007/s11424-011-9095-z

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  • DOI: https://doi.org/10.1007/s11424-011-9095-z

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