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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| Format: | Article |
| Language: | English |
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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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| _version_ | 1832559499532042240 |
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| author | Haiping Pang Xiuqin Yang |
| author_facet | Haiping Pang Xiuqin Yang |
| author_sort | Haiping Pang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-8c08405b265d4f7c986a998b769a6cfd |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-8c08405b265d4f7c986a998b769a6cfd2025-02-03T01:29:57ZengWileyJournal of Applied Mathematics1110-757X1687-00422013-01-01201310.1155/2013/863168863168Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO SystemsHaiping Pang0Xiuqin Yang1College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266042, ChinaNaval Aviation Engineering Institute of Qingdao Branch, Qingdao 266041, ChinaThis 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.http://dx.doi.org/10.1155/2013/863168 |
| spellingShingle | Haiping Pang Xiuqin Yang Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems Journal of Applied Mathematics |
| title | Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems |
| title_full | Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems |
| title_fullStr | Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems |
| title_full_unstemmed | Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems |
| title_short | Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems |
| title_sort | robust optimal sliding mode tracking control for a class of uncertain nonlinear mimo systems |
| url | http://dx.doi.org/10.1155/2013/863168 |
| work_keys_str_mv | AT haipingpang robustoptimalslidingmodetrackingcontrolforaclassofuncertainnonlinearmimosystems AT xiuqinyang robustoptimalslidingmodetrackingcontrolforaclassofuncertainnonlinearmimosystems |