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https://hdl.handle.net/2440/128355
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Type: | Journal article |
Title: | Practical trajectory tracking of random Lagrange systems |
Author: | Wu, Z. Karimi, H.R. Shi, P. |
Citation: | Automatica, 2019; 105:314-322 |
Publisher: | Elsevier |
Issue Date: | 2019 |
ISSN: | 0005-1098 1873-2836 |
Statement of Responsibility: | Zhaojing Wu, Hamid Reza Karimi, Peng Shi |
Abstract: | The problem of trajectory tracking is considered in this paper for Lagrange systems disturbed by second moment processes. For random differential equations, the concept of noise-to-state practical stability and its criterion are proposed. A state-feedback tracking control is designed by using vectorial backstepping method, which covers Slotine–Li controller and “PD+” controller as special cases. As natural extension, adaptive control is further researched, and a practical equivalence principle is presented. For the above two cases, results of global noise-to-state stability of closed-loop systems are obtained, and practical trajectory tracking can be achieved under a practical parameters-tuning principle. Simulations are conducted for a nonlinear benchmark system to illustrate the effectiveness and advantages of the proposed new control strategies. |
Keywords: | Lagrange systems; random differential equations; trajectory tracking; adaptive |
Rights: | © 2019 Elsevier Ltd. All rights reserved. |
DOI: | 10.1016/j.automatica.2019.04.006 |
Grant ID: | http://purl.org/au-research/grants/arc/DP170102644 |
Published version: | http://dx.doi.org/10.1016/j.automatica.2019.04.006 |
Appears in Collections: | Aurora harvest 4 Electrical and Electronic Engineering publications |
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