Optimal Time-varying P-controller for a Class of Uncertain Nonlinear Systems

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dc.contributor.authorMiah, M. Suruz
dc.contributor.authorGueaieb, Wail
dc.date.accessioned2015-05-25T15:40:08Z
dc.date.available2015-05-25T15:40:08Z
dc.date.created2014-07
dc.date.issued2014-07
dc.identifier.urihttp://hdl.handle.net/10393/32412
dc.identifier.urihttp://dx.doi.org/10.1007/s12555-013-0234-2
dc.description.abstractIn this manuscript, an optimal time-varying P-controller is presented for a class of continuous-time underactuated nonlinear systems in the presence of process noise associated with systems' inputs. This is a state feedback control strategy where the optimization is performed on a time-varying feedback operator (herein called the feedback control gain). The main goal of the current manuscript is to provide a framework for multi-input multi-output nonlinear systems which yields a satisfactory tracking performance based on the optimal time-varying feedback control gain. Unlike other feedback control techniques that perform dynamic linearization of system models, the proposed time-varying P-controller provides the full-state feedback control to the original nonlinear system model. Hence, this P-controller guarantees global asymptotic state-tracking. Furthermore, the bounded system's process noise is taken into consideration to measure the controller's robustness. The proposed P-controller is tested for its nonlinear trajectory tracking and fixed-point stabilization capabilities with two nonholonomic systems in the presence of actuators' noise.
dc.subjectFeedback control gain
dc.subjectGradient descent
dc.subjectHamiltonian
dc.subjectLagrange multipliers
dc.subjectMobile robots
dc.subjectOptimal control
dc.subjectRobustness
dc.titleOptimal Time-varying P-controller for a Class of Uncertain Nonlinear Systems
dc.typeArticle
dc.identifier.doi10.1007/s12555-013-0234-2
CollectionScience informatique et génie électrique - Publications // Electrical Engineering and Computer Science - Publications

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