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hang-Gradient Control

Zhang-Gradient Control

Yunong Zhang • Binbin Qiu • Xiaodong Li

Zhang-Gradient Control

Yunong Zhang School of Data and Computer Science Sun Yat-sen University Guangzhou, Guangdong, China

Binbin Qiu School of Data and Computer Science Sun Yat-sen University Guangzhou, Guangdong, China

Xiaodong Li School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou, Guangdong, China

ISBN 978-981-15-8256-1 ISBN 978-981-15-8257-8 (eBook) https://doi.org/10.1007/978-981-15-8257-8 © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021 This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors, and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore

To our parents and ancestors, as always

Preface

The tracking-control problems of nonlinear systems have been widely encountered in various applications, such as flight control, pendulum control, and robot control. For the purpose of tracking control, we need to design a controller in terms of control input for nonlinear systems such that the actual output can track the desired output. For solving the tracking-control problems of nonlinear systems, a number of methods have been presented and investigated, such as the input–output linearization (IOL) method, the optimal control method, and the backstepping method. However, most of the conventional control methods are relatively complex for their design procedures of controllers and practical implementations. Therefore, it is necessary and significant for practitioners to propose, develop, and investigate a simple and effective control method for the design of controllers. From the viewpoint of time-varying (or say, dyn