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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...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2022
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| Materias: | |
| 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 |