An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics


Bidikli B., Tatlicioglu E. , Zergeroglu E., Bayrak A.

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, vol.47, pp.2913-2924, 2016 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 47
  • Publication Date: 2016
  • Doi Number: 10.1080/00207721.2015.1039627
  • Title of Journal : INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
  • Page Numbers: pp.2913-2924
  • Keywords: robust control, Lyapunov methods, nonlinear uncertain dynamical systems, multi-input/multi-output systems, ADAPTIVE-CONTROL, FEEDBACK-CONTROL

Abstract

In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.