Title
Robust Feedback Control For A Class Of Uncertain Mimo Nonlinear Systems
Keywords
Lyapunov analysis; MIMO systems; Nonlinear control; Output feedback control; Robust control
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. © 2008 IEEE.
Publication Date
3-1-2008
Publication Title
IEEE Transactions on Automatic Control
Volume
53
Issue
2
Number of Pages
591-596
Document Type
Article
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/TAC.2008.916658
Copyright Status
Unknown
Socpus ID
41849089753 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/41849089753
STARS Citation
Chen, Jian; Behal, A.; and Dawson, D. M., "Robust Feedback Control For A Class Of Uncertain Mimo Nonlinear Systems" (2008). Scopus Export 2000s. 10591.
https://stars.library.ucf.edu/scopus2000/10591