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Optimal time-varying P-controller for a class of uncertain nonlinear systems

  • Control Theory
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Abstract

In this manuscript, an optimal time-varying P-controller is presented for a class of continuous-time underactuated nonlinear systems in the presence of process noise associated with systems’ inputs. This is a state feedback control strategy where the optimization is performed on a time-varying feedback operator (herein called the feedback control gain). The main goal of the current manuscript is to provide a framework for multi-input multi-output nonlinear systems which yields a satisfactory tracking performance based on the optimal time-varying feedback control gain. Unlike other feedback control techniques that perform dynamic linearization of system models, the proposed time-varying Pcontroller provides the full-state feedback control to the original nonlinear system model. Hence, this P-controller guarantees global asymptotic state-tracking. Furthermore, the bounded system’s process noise is taken into consideration to measure the controller’s robustness. The proposed P-controller is tested for its nonlinear trajectory tracking and fixed-point stabilization capabilities with two nonholonomic systems in the presence of input noise.

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Authors and Affiliations

  1. School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Ontario, K1N 6N5, Canada

    M. Suruz Miah & Wail Gueaieb

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  1. M. Suruz Miah
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  2. Wail Gueaieb
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Correspondence to M. Suruz Miah.

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Suruz Miah, M., Gueaieb, W. Optimal time-varying P-controller for a class of uncertain nonlinear systems. Int. J. Control Autom. Syst. 12, 722–732 (2014). https://doi.org/10.1007/s12555-013-0234-2

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  • DOI: https://doi.org/10.1007/s12555-013-0234-2

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