Model reference tracking control for nonlinear parameter-varying systems with mismatched disturbances

被引：0

作者：

Li Y. ^{[1
]}

Ke J. ^{[1
]}

Zeng J.-P. ^{[1
]}

机构：

[1] School of Aerospace Engineering, Xiamen University, Fujian, Xiamen

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 02期

关键词：

input-to-state stability; mismatched disturbance; nonlinear parameter-varying system; sum of squares convex optimization; tracking control;

D O I：

10.7641/CTA.2022.11294

中图分类号：

学科分类号：

摘要：

In this paper, a tracking control problem is considered for a class of nonlinear parameter-varying systems with mismatched disturbances. First, a nonlinear disturbance observer is designed to estimate the unknown disturbances. Second, a disturbance observer-based tracking control strategy is proposed by introducing a disturbance compensation control item into the feedforward-feedback tracking controller. And utilizing linear matrix inequalities dependent on states and time-varying parameters, the sufficient condition of the input-to-state stability is derived for the closed-loop system. Then the corresponding disturbance observer and the tracking controller are analytically constructed via the sum of squares convex optimization technique. It is proved theoretically that the presented control strategy can make the output of the nonlinear parameter-varying system track the output of the reference model, and eliminate the influence of the mismatched disturbances on the output channel. Finally, a numerical simulation example is given to verify the validity of the proposed method. © 2023 South China University of Technology. All rights reserved.

引用

页码：212 / 219

页数：7

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