Asymptotic Tracking of Second-Order Nonsmooth Feedback Stabilizable Unknown Systems With Prescribed Transient Response
Christos K. Verginis, Dimos V. Dimarogonas
Abstract
This article considers the asymptotic tracking control problem for a class of nonlinear systems subject to predefined constraints for the system response, such as maximum overshoot or minimum convergence rate. In particular, by employing discontinuous control protocols and nonsmooth analysis, we extend previous results on funnel control to guarantee at the same time asymptotic trajectory tracking. We consider second-order systems that are affine in the control input, and contain completely unknown nonlinear, and nonsmooth vector fields, with no boundedness or approximation/parametric factorization assumptions. Simulation results verify the theoretical findings.
Topics & Concepts
Control theory (sociology)MathematicsParametric statisticsNonlinear systemTrajectoryAffine transformationLinear systemOvershoot (microwave communication)Convergence (economics)Applied mathematicsComputer scienceControl (management)Mathematical analysisEconomic growthAstronomyPhysicsStatisticsEconomicsPure mathematicsTelecommunicationsArtificial intelligenceQuantum mechanicsAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsStability and Control of Uncertain Systems