期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 65, 期 12, 页码 5058-5069出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.2970003
关键词
Output feedback; Steady-state; MIMO communication; Closed loop systems; Nonlinear dynamical systems; Output-feedback control; prescribed performance control (PPC); uncertain nonlinear systems
We consider the problem of designing a low-complexity, approximation-free, output-feedback controller to achieve output tracking with prescribed transient and steady-state performance for uncertain, high relative degree, multi-input-multi-output (MIMO) nonlinear systems, which are equivalent via a diffeomorphic coordinate transformation to the Byrnes-Isidori canonical form, with uniform-bounded-input-bounded-state (UBIBS) stable internal dynamics and bounded external disturbances. The proposed controller utilizes the prescribed performance control methodology and high-gain observers. To avoid the propagation of the peaking phenomenon, the developed controller is appropriately saturated without compromising the closed-loop system performance attributes. Moreover, the selection of the observer gains is significantly relaxed owing to the fact that the adopted prescribed performance control technique seeks only for boundedness properties to establish the desired transient and steady-state performance specifications. Finally, various simulation studies clarify and verify the approach.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据