Robust Constrained Control for MIMO Nonlinear Systems Based on Disturbance Observer

In this note, a robust constrained control scheme is proposed for multi-input and multi-output (MIMO) cascade nonlinear systems with unknown external disturbance and input saturation. To efficiently observe unknown external disturbance, a novel sliding mode disturbance observer (SMDO) with finite ti...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 60; no. 12; pp. 3281 - 3286
Main Authors Chen, Mou, Shi, Peng, Lim, Cheng-Chew
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2015
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Backstepping
Constrained control
MIMO
MIMO nonlinear system
Mobile robots
Nonlinear systems
Observers
Robust control
Robustness
Uncertainty
Backstepping control
MIMO nonlinear system
robust control
sliding mode disturbance observer
constrained control
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Summary:In this note, a robust constrained control scheme is proposed for multi-input and multi-output (MIMO) cascade nonlinear systems with unknown external disturbance and input saturation. To efficiently observe unknown external disturbance, a novel sliding mode disturbance observer (SMDO) with finite time convergence performance is presented. A robust constrained control scheme is developed for MIMO nonlinear systems based on backstepping control techniques and the disturbance estimate of the SMDO. With the first-order sliding mode differentiator introduced to compute the derivatives of virtual control laws, the computational burden in backstepping control is reduced for a MIMO cascade nonlinear system. Numerical simulation results are presented to show the effectiveness of the proposed robust constrained control scheme.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2015.2450891