Robust Nonlinear Tracking Control with Exponential Convergence Using Contraction Metrics and Disturbance Estimation

This paper presents a tracking controller for nonlinear systems with matched uncertainties based on contraction metrics and disturbance estimation that provides exponential convergence guarantees. Within the proposed approach, a disturbance estimator is proposed to estimate the pointwise value of th...

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Detalles Bibliográficos
Autores principales: Zhao, Pan, Guo, Ziyao, Hovakimyan, Naira
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9269074/
https://www.ncbi.nlm.nih.gov/pubmed/35808237
http://dx.doi.org/10.3390/s22134743

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9269074/
https://www.ncbi.nlm.nih.gov/pubmed/35808237
http://dx.doi.org/10.3390/s22134743

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