Please use this identifier to cite or link to this item:
|Scopus||Web of Science®||Altmetric|
|Title:||Practical trajectory tracking of random Lagrange systems|
|Citation:||Automatica, 2019; 105:314-322|
|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.|
|Appears in Collections:||Electrical and Electronic Engineering publications|
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.