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ABSTRACT
In this paper, we consider the control problem for a general class of nonlinear system subjected to uncertain dynamics and non-varnishing disturbances. A smooth nonlinear control algorithm is presented to tackle these uncertainties and disturbances. The proposed control design employs the integral of a nonlinear sigmoid function to compensate the uncertain dynamics, and achieve a uniformly semi-global practical asymptotic stable tracking control of the system outputs. A novel Lyapunov-based stability analysis is employed to prove the convergence of the tracking errors and the stability of the closed-loop system. Numerical simulation results on a two-link robot manipulator are presented to illustrate the performance of the proposed control algorithm comparing with the layer-boundary sliding mode controller and the robust of integration of sign of error control design. Furthermore, real-time experiment results for the attitude control of a quadrotor helicopter are also included to confirm the effectiveness of the proposed algorithm.
Acknowledgements
This work was supported by the Natural Science Foundation of Tianjin [grant number 14JCZDJC31900]; National Natural Science Foundation of China [grant number 90916004], [grant number 60804004]; the Key project of Tianjin science and technology support program [grant number 15ZCZDGX00810]; the Tianjin science and technology program [grant number 14RCHZGX00862].
Disclosure statement
No potential conflict of interest was reported by the authors.