An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

作者：Bidikli Baris; Tatlicioglu Enver^*; Zergeroglu Erkan; Bayrak Alper

来源：International Journal of Systems Science, 2016, 47(12): 2913-2924.

DOI：10.1080/00207721.2015.1039627

• robust control
• Lyapunov methods
• nonlinear uncertain dynamical systems
• multi-input/multi-output systems

In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.

• 出版日期2016-9-9