TY - GEN
T1 - Guaranteed Tracking Error Bounds for Matched Disturbance Nonlinear Systems
AU - del Re, Luigi
AU - Grünbacher, Engelbert
PY - 2009
Y1 - 2009
N2 - 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.
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.
UR - https://www.scopus.com/pages/publications/77950840221
U2 - 10.1109/CDC.2009.5400595
DO - 10.1109/CDC.2009.5400595
M3 - Conference proceedings
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2807
EP - 2812
BT - Proceedings of the IEEE Conference on Decision and Control
ER -