Title :
Robust output feedback tracking control for a class of MIMO nonlinear systems
Author :
Pan, Ya-Jun ; Marquez, Horacio J. ; Chen, Tongwen
Author_Institution :
Dept. of Mech. Eng., Dalhousie Univ., Halifax, NS, Canada
Abstract :
This paper proposes a robust output feedback controller for a class of nonlinear systems to track a desired trajectory. Our main goal is to ensure the global input-to-state (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. Our approach consists of constructing a nonlinear observer to reconstruct the unavailable states, and then designing a discontinuous controller using a back-stepping like design procedure to ensure the ISS property. The observer design is realized through state transformation and there is only one parameter to be determined. Through solving a Hamilton-Jacoby inequality, the nonlinear control law for the first subsystem specifies a nonlinear switching surface. By virtue of nonlinear control for the first subsystem, the resulting sliding manifold in the sliding phase possesses the desired ISS property and to certain extent the optimality. Associated with the new switching surface, the sliding mode control is applied to the second subsystem to accomplish the tracking task. As a result the tracking error is bounded and the ISS property of the whole system can be ensured while the internal stability is also achieved. Finally, an example is presented to show the effectiveness of the proposed scheme.
Keywords :
MIMO systems; control system synthesis; feedback; nonlinear control systems; observers; robust control; variable structure systems; Hamilton-Jacoby inequality; ISS property; MIMO nonlinear systems; back-stepping like design; discontinuous controller; internal stability; nonlinear control; nonlinear observer; nonlinear switching surface; robust output feedback tracking control; sliding mode control; state transformation; structural system uncertainties; tracking error nonlinear dynamics; unavailable states; Control systems; MIMO; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Robust control; Sliding mode control; Trajectory; Uncertainty;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470766