Title

Robust feedback control for a class of uncertain MIMO nonlinear systems

Authors

Authors

J. Chen; A. Behal;D. M. Dawson

Comments

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Abbreviated Journal Title

IEEE Trans. Autom. Control

Keywords

Lyapunov analysis; MIMO systems; nonlinear control; output feedback; control; robust control; OUTPUT-FEEDBACK; ADAPTIVE-CONTROL; Automation & Control Systems; Engineering, Electrical & Electronic

Abstract

In this paper, a continuous feedback tracking controller is developed for a class of high-order multi-input multi-output (MIMO) nonlinear systems with an input gain matrix that has nonzero leading principal minors but can be nonsymmetric. Under the mild assumption that the signs of the leading minors of the control input gain matrix are known, the controller yields locally uniformly ultimately bounded (UUB) tracking while compensating for unstructured uncertainty in both the drift vector and the input matrix. First, a full-state feedback controller is designed based on limited assumptions on the structure of the system nonlinearities, and the singularity-free controller is proven to yield locally UUB tracking through a Lyapunov-based analysis. Then, it is shown that an output feedback control can be designed based on a high-gain observer. Simulation results are provided to illustrate the performance of the proposed control algorithm.

Journal Title

Ieee Transactions on Automatic Control

Volume

53

Issue/Number

2

Publication Date

1-1-2008

Document Type

Article

Language

English

First Page

591

Last Page

596

WOS Identifier

WOS:000254184600015

ISSN

0018-9286

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