ISSN:
1573-8450
Keywords:
Robust output tracking
;
MIMO nonlinear system
;
mismatched time-varying uncertainties
;
singular perturbation
;
sliding mode control
Source:
Springer Online Journal Archives 1860-2000
Topics:
Electrical Engineering, Measurement and Control Technology
Notes:
Abstract This paper considers the problem of robust output tracking control for multi-input multi-output (MIMO) nonlinear systems in the presence of mismatched time-varying uncertainties. Using singular perturbation method and variable structure control technique, we derive a new hybrid controller for MIMO systems with unknown time-varying uncertainties and disturbances to track a desired trajectory. It is shown that the hybrid controller not only stabilizes the closed-loop systems, but also guarantees the tracking errors remain in an O(ε) neighbourhood of the origin where ε is a small design parameter of the controller. Moreover, by selecting the parameter ε properly, the tracking errors can be made arbitrarily small.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1008275514246
