New results on robust tracking control for a class of high-order nonlinear time-delay systems

Lingrong Xue, Zhenguo Liu, Zongyao Sun and Wei Sun

International Journal of Systems Science, 2019, vol. 50, issue 10, 2002-2014

Abstract: This paper considers the global tracking control problem for a class of nonlinear systems. Compared with the existing results, one significant distinction of this work is that it allows the high-order powers, zero dynamics, time-delay and external disturbances. By constructing a new Lyapunov–Krasovskii (L–K) functional and using the modified adding a power integrator method, we successfully design a non-smooth tracking controller which guarantees that all the signals of the closed-loop system are bounded. The tracking error can be adjusted small enough using the designed parameters. As a practical application, in the simulation, the single-link robot system is studied to show the validness of the strategy.

Date: 2019
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DOI: 10.1080/00207721.2019.1646346

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