Adaptive Robust Tracker Design for Nonlinear Sandwich Systems Subject to Saturation Nonlinearities

• Published in: Robotica Vol. 39; no. 3; pp. 452 - 467
• Main Authors: Azhdari, Meysam, Binazadeh, Tahereh
• Format: Journal Article
• Language: English
• Published: Cambridge, UK Cambridge University Press 01.03.2021
• Subjects: Adaptive control; Constraint modelling; Control methods; Nonlinear systems; Nonlinearity; Recursive methods; Reference signals; Robust control; Saturation; Sliding mode control; Subsystems; Tracking problem; Lyapunov stability; Back-stepping approach; Adaptive sliding mode; Nonlinear sandwich systems; Robotic system; Saturation nonlinearity
• ISSN: 0263-5747; 1469-8668
• DOI: 10.1017/S0263574720000508

This paper addresses the tracking problem for uncertain nonlinear sandwich systems that consist of two nonlinear subsystems and saturation nonlinearity, which is sandwiched between the subsystems. The considered sandwich system is also subject to a nonsymmetric input saturation constraint. Due to the nonsmooth characteristics of sandwiched saturation nonlinearity and also the input saturation function, the design procedure deals with hard challenges. To overcome these difficulties, a recursive approach is suggested that consists of two phases. For the implementation of the proposed approach, a tracking problem is solved in each phase. In the first phase, the second subsystem with sandwiched saturation nonlinearity is considered and the output tracking problem of the desired time-varying reference signal is solved using backstepping method. The outcome of the first phase is the desired reference signal that should be tracked by the first subsystem in the next phase. In the second phase, the robust control input is designed for the first subsystem by employing adaptive sliding mode technique such that, despite the nonsymmetric input saturation constraint, model uncertainty and external disturbances, the output of the first subsystem follows the desired signal that is obtained in the previous phase. The simulation results for a mechanical sandwich system are illustrated to verify the effectiveness of the proposed control method.