Robust feedback control for a class of uncertain MIMO nonlinear systems

    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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