Abstract
This paper deals with the adaptive practical output maneuvering control problems for a class of nonlinear systems with uncontrollable unstable linearization. The objective is to design a smooth adaptive maneuvering controller to solve the geometric and dynamic tasks with an arbitrary small steady tracking error. The method of adding a power integrator and the robust recursive design technique are employed to force the system output to track a desired path and make the tracking speed to follow a desired speed along the path. An example is considered and simulation results are given. The proposed design procedure can be illustrated by the use of this example.
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Supported by the National Natural Science Foundation of China (No. 60304003, 60574007, 60574080).
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Wei, C., Wu, Y. & Fei, S. Adaptive Practical Output Maneuvering Control for a Class of Nonlinear Systems. Jrl Syst Sci & Complex 20, 75–84 (2007). https://doi.org/10.1007/s11424-007-9006-5
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DOI: https://doi.org/10.1007/s11424-007-9006-5