Global set-point tracking control for a class of nonlinear systems with iISS inverse dynamics

Abstract

In this paper, we consider the problem of global set-point tracking control for a class of nonlinear systems with dynamic uncertainty. Unlike the existing works, the investigated system is with the integral input-to-state stable (iISS) inverse dynamics and more general uncertain nonlinearities. By using a recursive design method, a partial-state feedback controller is designed. The tuning function technique is applied in this procedure to avoid the overparametrization. It is shown that the developed control procedure could guarantee that the tracking error is driven to the origin and the other signals are bounded. In addition, it can also reduce to a linear or even a classical PI control law under some sufficient conditions. Simulation results are illustrated to show the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society