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robust output regulation problem with prescribed performance for nonlinear strict feedback systems

Journal of Systems Engineering and Electronics 2023年第4期34卷 1033-1041页

作者： ZHU Haichao LAN Weiyao Department of Automation Xiamen UniversityXiamen 361005China Department of Automation Henan University of Science and TechnologyLuoyang 471000China

This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint.Then,by constructing the speed function and adopting barrier Lyapunov function technique,the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time,but also to achieve that the error output converges to zero asymptotically.The effectiveness of the results is illustrated by a simulation example.

关键词： robust output regulation nonlinear system prescribed performance bound speed function finite time

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Sampled-Data Semi-Global robust output regulation for a Class of Nonlinear Systems

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Journal of Systems Science & Complexity 2021年第5期34卷 1743-1765页

作者： LIU Wei HUANG Jie School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong Kong 999077China

This paper investigates the semi-global robust output regulation problem for a class of uncertain nonlinear systems via a sampled-data output feedback control law.What makes the results interesting is that the nonlinearities of the proposed system do not have to satisfy linear growth condition and the uncertain parameters of our system are allowed to belong to some arbitrarily large prescribed compact subset.Two cases are considered.The first case is that the exogenous signal is constant.The second case is that the exogenous signal is time-varying and bounded.For the first case,the authors solve the problem exactly in the sense that the tracking error approaches zero asymptotically.For the second case,the authors solve the problem practically in the sense that the steady-state tracking error can be made arbitrarily small.Finally,an example is given to illustrate the effectiveness of our approach.

关键词： Internal model nonlinear systems robust output regulation sampled-data control

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Global robust output regulation for High-order Unknown Nonlinear Multi-agent Systems with Unknown Control Directions

Global Robust Output Regulation for High-order Unknown Nonli...

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第32届中国控制与决策会议

作者： Shaoning Liu Qiangde Wang Chunling Wei Department of Automation Qufu Normal University

In this paper,we study the global robust output regulation for a class of high-order unknown nonlinear multi-agent systems with unknown control directions and unknown exogenous disturbances.Comparing to the current results,the challenge existed in this paper is that the exogenous disturbance does not have explicit expression but only the unknown upper bound.A Nussbaum-type function is adopted in the proposed control protocol to resolve the problem of unknown control directions.The critical contribution of this paper is to use adaptive control technique develop a novel distributed adaptive control protocol based on relative output information without using global information of the topology.It is proved that all variables in the closed-loop system are bounded and all followers can asymptotically track the leader in the presence of exogenous disturbances.An example with the well-known Van der Pol oscillator is presented to illustrate the effectiveness of the proposed control protocol.

关键词： robust output regulation Unknown control directions Unknown exogenous disturbances High-order nonlinear multi-agent systems

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Observer-based Adaptive Event-Triggered Control for robust Cooperative output regulation of Multi-Agent Systems

Observer-based Adaptive Event-Triggered Control for Robust C...

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第36届中国控制会议

作者： Miaomiao Wu Ruohan Yang Hao Zhang Department of Control Science and Engineering Tongji University

ISBN: (纸本)9781538629185

This paper is concerned with the distributed control for robust output regulation of multi-agent systems（MASs） with adaptive event-triggered mechanism.A novel distributed adaptive control law based on output feedback is developed,which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission.It is shown that the proposed control law achieves robust cooperative output regulation asymptotically and Zeno behavior is excluded.Finally,a numerical example is given to verify the efficiencies of theoretical results.

关键词： robust output regulation Adaptive control Event-triggered Multi-agent systems

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