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Adaptive robust maneuvering control for nonlinear systems via dynamic surface technique

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Abstract

In this paper, the adaptive robust controller based on dynamic surface technique is investigated for the maneuvering problem of uncertain nonlinear systems with external disturbances. As preliminary, the definition of semi-globally uniformly practically asymptotically stable and its Lyapunov criterion are presented. The static part of controller with smooth robust compensator and adaptive law is designed to achieve the geometric task of maneuverability, and the dynamic control is proposed to reach the speed task by filtered-gradient update law. Moreover, utilizing first-order filter, the problem of “dimensional explosion” is avoided in controller design. Simulation is conducted for three-mecanum-wheeled mobile robot actuated by DC motors to illustrate the effectiveness of the control strategy.

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Funding

This work was supported by the National Natural Science Foundations of China (No. 62073275).

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Authors and Affiliations

  1. Institute of Engineering, Qufu Normal University, Rizhao, 276800, People’s Republic of China

    Cun Yang

  2. School of Mathematics and Informational Science, Yantai University, Yantai, 264000, People’s Republic of China

    Zhaojing Wu

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  1. Cun Yang
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Correspondence to Zhaojing Wu.

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Yang, C., Wu, Z. Adaptive robust maneuvering control for nonlinear systems via dynamic surface technique. Nonlinear Dyn 111, 8369–8381 (2023). https://doi.org/10.1007/s11071-023-08289-x

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