Journal Article

Robust tracking for MIMO nonlinear time-dependent mismatched uncertain systems: non-adaptive versus adaptive control

WEI-HUA WANG, CHEONG-BOON SOH and TIAN-YOU CHAI

in IMA Journal of Mathematical Control and Information

Published on behalf of Institute of Mathematics and its Applications

Volume 16, issue 2, pages 125-146
Published in print June 1999 | ISSN: 0265-0754
Published online June 1999 | e-ISSN: 1471-6887 | DOI: http://dx.doi.org/10.1093/imamci/16.2.125
Robust tracking for MIMO nonlinear time-dependent mismatched uncertain systems: non-adaptive versus adaptive control

Show Summary Details

Preview

This paper considers the problem of robust output-tracking control for multi-input multi-output (MIMO) nonlinear systems in the presence of mismatched time-dependent uncertainties. It first generalizes the stable combined-variable perturbation method (SCVPM) which was proposed by Li et al. (1996) to derive a new robust controller and its adaptive version for MIMO systems to track a desired trajectory. It is shown that both controllers not only stabilize the closed-loop systems but also guarantee that the tracking errors remain in an O(ε) neighbourhood of the orgin, where ε is a small design parameter of the controller. Moreover, the adaptive robust controller is only based on the nominal system, and no a priori data on the uncertainties are needed. Therefore, it is more feasibly implemented than the non-adaptive controller.

Keywords: robust output tracking; MIMO nonlinear system; mismatched time-dependent uncertainties; singular-perturbation method

Journal Article.  0 words. 

Subjects: Mathematics

Full text: subscription required

How to subscribe Recommend to my Librarian

Users without a subscription are not able to see the full content. Please, subscribe or login to access all content.