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IMA Journal of Mathematical Control and Information 1999 16(2):125-146; doi:10.1093/imamci/16.2.125
© 1999 by Institute of Mathematics and its Applications
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Robust tracking for MIMO nonlinear time-dependent mismatched uncertain systems: non-adaptive versus adaptive control

WEI-HUA WANG, CHEONG-BOON SOH {dagger} and TIAN-YOU CHAI

School of Electrical and Electronic Engineering, Nanyang Technological University Nanyang Avenue, Singapore 639798
Research Center of Automation, Northeastern University Shenyang, Liaoning, 110006, P.R. China

This paper considers the problem of robust output-tracking control for multi-input multi-output (MIMO) nonlinear systems in the presence of mismatched time-dependent uncertainties. It first generalizes the stable combined-variable perturbation method (SCVPM) which was proposed by Li et al. (1996) to derive a new robust controller and its adaptive version for MIMO systems to track a desired trajectory. It is shown that both controllers not only stabilize the closed-loop systems but also guarantee that the tracking errors remain in an O({varepsilon}) neighbourhood of the orgin, where {varepsilon} is a small design parameter of the controller. Moreover, the adaptive robust controller is only based on the nominal system, and no a priori data on the uncertainties are needed. Therefore, it is more feasibly implemented than the non-adaptive controller.

Keywords: robust output tracking; MIMO nonlinear system; mismatched time-dependent uncertainties; singular-perturbation method.

{dagger} e-mail address: cbsoh{at}wj7.eee.ntu.ac.sg


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