Guaranteed Tracking Error Bounds for Matched Disturbance Nonlinear Systems

Luigi del Re; Engelbert Grünbacher

Guaranteed Tracking Error Bounds for Matched Disturbance Nonlinear Systems

Luigi del Re, Engelbert Grünbacher

Institute of Design and Control of Mechatronical Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown that even in case of actuator uncertainties and additionally matched disturbances it is possible to ensure robust tracking under guaranteed state error bounds. At the end a numerical example will verify the design procedure.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Number of pages	6
Publication status	Published - 2009

Fields of science

202 Electrical Engineering, Electronics, Information Engineering
202027 Mechatronics
202034 Control engineering
203027 Internal combustion engines
206001 Biomedical engineering
206002 Electro-medical engineering
207109 Pollutant emission

Cite this

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title = "Guaranteed Tracking Error Bounds for Matched Disturbance Nonlinear Systems",

abstract = "In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown that even in case of actuator uncertainties and additionally matched disturbances it is possible to ensure robust tracking under guaranteed state error bounds. At the end a numerical example will verify the design procedure.",

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AB - In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown that even in case of actuator uncertainties and additionally matched disturbances it is possible to ensure robust tracking under guaranteed state error bounds. At the end a numerical example will verify the design procedure.

M3 - Conference proceedings

SN - 978-1-4244-3872-3/09

BT - Proceedings of the IEEE Conference on Decision and Control

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