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
相关论文
共 50 条
  • [41] Robust adaptive backstepping control for a class of uncertain nonlinear systems based on disturbance observers
    MEI Rong 1
    2 Criminal Investigation Department
    ScienceChina(InformationSciences), 2010, 53 (06) : 1201 - 1215
  • [42] Robust adaptive backstepping control for a class of uncertain nonlinear systems based on disturbance observers
    Mei Rong
    Wu QingXian
    Jiang ChangSheng
    SCIENCE CHINA-INFORMATION SCIENCES, 2010, 53 (06) : 1201 - 1215
  • [43] Approximation-Based Adaptive Tracking Control for MIMO Nonlinear Systems With Input Saturation
    Zhou, Qi
    Shi, Peng
    Tian, Yang
    Wang, Mingyu
    IEEE TRANSACTIONS ON CYBERNETICS, 2015, 45 (10) : 2119 - 2128
  • [44] Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance
    Wang, Xuerao
    Wang, Qingling
    Sun, Changyin
    FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING, 2021, 22 (07) : 986 - 1001
  • [45] Adaptive tracking control of uncertain constrained nonlinear systems with input saturation
    Gao, Lihong
    Song, Zhibao
    Wang, Zhen
    COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2023, 127
  • [46] A new approach to robust reliable H∞ control for uncertain nonlinear systems
    Hu, Hao
    Jiang, Bin
    Yang, Hao
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2016, 47 (06) : 1376 - 1383
  • [47] Constrained robust sampled-data control for nonlinear uncertain systems
    Hu, LS
    Cao, YY
    Shao, HH
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2002, 12 (05) : 447 - 464
  • [48] Approximation-Based Quantized State Feedback Tracking of Uncertain Input-Saturated MIMO Nonlinear Systems with Application to 2-DOF Helicopter
    Kim, Byung Mo
    Yoo, Sung Jin
    MATHEMATICS, 2021, 9 (09)
  • [49] Adaptive neural network control of uncertain MIMO nonlinear systems with input saturation
    Shengfeng Zhou
    Mou Chen
    Chong-Jin Ong
    Peter C. Y. Chen
    Neural Computing and Applications, 2016, 27 : 1317 - 1325
  • [50] Nonlinear Feedback Design for Observer-based Neural Adaptive Dynamic Surface Control of MIMO Uncertain Nonlinear Systems
    Gao, Shigen
    Wang, Xiaoyu
    Dong, Hairong
    Ning, Bin
    IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2017, : 5906 - 5911
12345