Robust tracking control of uncertain MIMO nonlinear systems with application to UAVs

被引：27
|
作者：
Zhou, Yanlong [1 ]
Chen, Mou [1 ]
Jiang, Changsheng [1 ]
机构：
[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
IEEE/CAA Journal of Automatica Sinica | 2015年 / 2卷 / 01期
基金：
中国国家自然科学基金;
关键词：
backstepping control; disturbance observer; dynamic surface control (DSC); input saturation; Nonlinear system; unmanned aerial vehicle (UAV);
D O I：
10.1109/JAS.2015.7032903
中图分类号：
学科分类号：
摘要：
In this paper, we consider the robust adaptive tracking control of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance. The nonlinear disturbance observer (NDO) is employed to tackle the system uncertainty as well as the external disturbance. To handle the input saturation, an auxiliary system is constructed as a saturation compensator. By using the backstepping technique and the dynamic surface method, a robust adaptive tracking control scheme is developed. The closed-loop system is proved to be uniformly ultimately bounded thorough Lyapunov stability analysis. Simulation results with application to an unmanned aerial vehicle (UAV) demonstrate the effectiveness of the proposed robust control scheme. © 2014 Chinese Association of Automation.
引用
收藏
页码：25 / 32
页数：7
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