A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

This study focuses on the development of a new class of the Robust Integral of the Sign of the Error (RISE) control law adequate for second-order nonlinear multi-input-multi-output systems. A revisit for the original RISE is done by altering some static feedback gains into time-varying nonlinear one...

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Bibliographic Details
Published inInternational journal of control Vol. 94; no. 8; pp. 2304 - 2317
Main Authors Saied, Hussein, Chemori, Ahmed, Bouri, Mohamed, El Rafei, Maher, Francis, Clovis, Pierrot, Francois
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 03.08.2021
Taylor & Francis Ltd
Subjects
Automatic
Control theory
Controllers
Engineering Sciences
Nonlinear control
Nonlinear feedback
nonlinear feedback gains
Nonlinear systems
parallel kinematic manipulators
real-time experiments
RISE control
Robust control
Stability analysis
Nonlinear feedback gains
Parallel kinematic manipulators
RISE control
Stability analysis
Real-time experiments
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Summary:This study focuses on the development of a new class of the Robust Integral of the Sign of the Error (RISE) control law adequate for second-order nonlinear multi-input-multi-output systems. A revisit for the original RISE is done by altering some static feedback gains into time-varying nonlinear ones depending on the system states. The proposed controller takes advantage of both RISE control robustness towards uncertainties and the special behaviour of nonlinear feedback gains towards time-varied parameters. A Lyaponuv-based stability analysis to prove the semiglobal asymptotic tracking of the proposed new controller is included. In order to validate the relevance of the proposed controller, real-time experimental results are presented and discussed. Experiments have been conducted on a Delta parallel manipulator, in different operating conditions including payload and speed variations.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2019.1704063