Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems

Yukun Guo; Yao Yu; Yidao Ji; Changyin Sun

doi:10.1109/CCECE.2015.7129409

Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems

Yukun Guo
, Yao Yu
, Yidao Ji
, Changyin Sun

University of Science and Technology Beijing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The robust decentralized tracking control problem for a class of uncertain multi-input multi-output (MIMO) nonlinear systems in block-triangular form is investigated in this paper. A control design method combining backstepping technique and signal compensation method is proposed to deal with the nonlinear uncertainties, external disturbances and strongly coupled interconnections in this kind of systems. It is proved that, under this method, the semiglobal robust stability and semiglobal robust practical tracking property of the closed-loop system are guaranteed, with the tracking error restrained as small as desired with expected convergence rate. The robust controller is linear and time-invariant, and the explosion of terms in the backstepping control law is avoided.

Original language	English
Title of host publication	2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	982-987
Number of pages	6
Edition	June
ISBN (Electronic)	9781479958276
DOIs	https://doi.org/10.1109/CCECE.2015.7129409
State	Published - 19 Jun 2015
Externally published	Yes
Event	2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015 - Halifax, Canada Duration: 3 May 2015 → 6 May 2015

Publication series

Name	Canadian Conference on Electrical and Computer Engineering
Number	June
Volume	2015-June
ISSN (Print)	0840-7789

Conference

Conference	2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015
Country/Territory	Canada
City	Halifax
Period	3/05/15 → 6/05/15

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10.1109/CCECE.2015.7129409

Cite this

Guo, Y., Yu, Y., Ji, Y., & Sun, C. (2015). Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems. In 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015 (June ed., pp. 982-987). Article 7129409 (Canadian Conference on Electrical and Computer Engineering; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCECE.2015.7129409

Guo, Yukun ; Yu, Yao ; Ji, Yidao et al. / Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems. 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 982-987 (Canadian Conference on Electrical and Computer Engineering; June).

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title = "Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems",

abstract = "The robust decentralized tracking control problem for a class of uncertain multi-input multi-output (MIMO) nonlinear systems in block-triangular form is investigated in this paper. A control design method combining backstepping technique and signal compensation method is proposed to deal with the nonlinear uncertainties, external disturbances and strongly coupled interconnections in this kind of systems. It is proved that, under this method, the semiglobal robust stability and semiglobal robust practical tracking property of the closed-loop system are guaranteed, with the tracking error restrained as small as desired with expected convergence rate. The robust controller is linear and time-invariant, and the explosion of terms in the backstepping control law is avoided.",

author = "Yukun Guo and Yao Yu and Yidao Ji and Changyin Sun",

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doi = "10.1109/CCECE.2015.7129409",

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Guo, Y, Yu, Y, Ji, Y & Sun, C 2015, Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems. in 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June edn, 7129409, Canadian Conference on Electrical and Computer Engineering, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 982-987, 2015 28th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2015, Halifax, Canada, 3/05/15. https://doi.org/10.1109/CCECE.2015.7129409

Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems. / Guo, Yukun; Yu, Yao; Ji, Yidao et al.
2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 982-987 7129409 (Canadian Conference on Electrical and Computer Engineering; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The robust decentralized tracking control problem for a class of uncertain multi-input multi-output (MIMO) nonlinear systems in block-triangular form is investigated in this paper. A control design method combining backstepping technique and signal compensation method is proposed to deal with the nonlinear uncertainties, external disturbances and strongly coupled interconnections in this kind of systems. It is proved that, under this method, the semiglobal robust stability and semiglobal robust practical tracking property of the closed-loop system are guaranteed, with the tracking error restrained as small as desired with expected convergence rate. The robust controller is linear and time-invariant, and the explosion of terms in the backstepping control law is avoided.

AB - The robust decentralized tracking control problem for a class of uncertain multi-input multi-output (MIMO) nonlinear systems in block-triangular form is investigated in this paper. A control design method combining backstepping technique and signal compensation method is proposed to deal with the nonlinear uncertainties, external disturbances and strongly coupled interconnections in this kind of systems. It is proved that, under this method, the semiglobal robust stability and semiglobal robust practical tracking property of the closed-loop system are guaranteed, with the tracking error restrained as small as desired with expected convergence rate. The robust controller is linear and time-invariant, and the explosion of terms in the backstepping control law is avoided.

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Guo Y, Yu Y, Ji Y, Sun C. Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems. In 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering, CCECE 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 982-987. 7129409. (Canadian Conference on Electrical and Computer Engineering; June). doi: 10.1109/CCECE.2015.7129409

Semiglobal robust decentralized tracking control for a class of uncertain MIMO nonlinear systems

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