A new approach to design robust backstepping controller for MIMO nonlinear systems with input unmodeled dynamics

Author

Wang, Wei ; Wen, Changyun

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

2468

Lastpage

2473

Abstract

In this paper, a new scheme inspired by the idea of decentralized control methodology is proposed to design output feedback controllers for a class of MIMO nonlinear systems with input unmodeled dynamics. With dynamic normalization and backstepping approach, the destabilizing effects of unmodeled dynamics depending on inputs are compensated and global uniform boundedness of all the signals in the closed loop system is established for sufficiently weak input unmodeled dynamics.

Keywords

MIMO systems; closed loop systems; control system synthesis; decentralised control; nonlinear control systems; robust control; MIMO nonlinear systems; backstepping approach; closed loop system; decentralized control; dynamic normalization approach; input unmodeled dynamics; robust backstepping controller design; Backstepping; Closed loop systems; Control systems; Distributed control; MIMO; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400937

Filename

5400937