| Title |
Robust Low-complexity Design for Tracking Control of Uncertain Switched Pure-feedback Systems with Unknown Control Direction |
| Authors |
이승우(Lee, Seung-Woo) ; 유성진(Yoo, Sung-Jin) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.1.153 |
| Keywords |
Low-complexity design ; Switched pure-feedback systems ; Unknown control direction ; Approximation-free |
| 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. |