Please use this identifier to cite or link to this item: http://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.
RMID: 0030118526
DOI: 10.1016/j.automatica.2019.04.006
Grant ID: http://purl.org/au-research/grants/arc/DP170102644
Appears in Collections:Electrical and Electronic Engineering publications

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