Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems
This paper addresses the problem of tracking a reference trajectory asymptotically given by a linear time-varying exosystem for a class of uncertain nonlinear MIMO systems based on the robust optimal sliding-mode control. The nonlinear MIMO system is transformed into a linear one by the input-output...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2013/863168 |
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| Summary: | This paper addresses the problem of tracking a reference trajectory asymptotically given by a linear time-varying exosystem for a class of uncertain nonlinear MIMO systems based on the robust optimal sliding-mode control. The nonlinear MIMO system is transformed into a linear one by the input-output linearization technique, and at the same time the input-output decoupling is realized. Thus, the tracking error equation is established in a linear form, and the original nonlinear tracking problem is transformed into an optimal linear quadratic regulator (LQR) tracking problem. A LQR tracking controller (LQRTC) is designed for the corresponding nominal system, and the integral sliding-mode strategy is used to robustify the LQRTC. As a result, the original system exhibits global robustness to the uncertainties, and the tracking dynamics is the same as that of LQRTC for the nominal system. So a robust optimal sliding-mode tracking controller (ROSMTC) is realized. The proposed controller is applied to a two-link robot system, and simulation results show its effectiveness and superiority. |
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| ISSN: | 1110-757X 1687-0042 |