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Robust Constrained Control for MIMO Nonlinear Systems Based on Disturbance Observer
Abstract
In this note, a robust constrained control scheme is proposed for multi-input and multi-output (MIMO) cascade nonlinear systems with unknown external disturbance and input saturation. To efficiently observe unknown external disturbance, a novel sliding mode disturbance observer (SMDO) with finite time convergence performance is presented. A robust constrained control scheme is developed for MIMO nonlinear systems based on backstepping control techniques and the disturbance estimate of the SMDO. With the first-order sliding mode differentiator introduced to compute the derivatives of virtual control laws, the computational burden in backstepping control is reduced for a MIMO cascade nonlinear system. Numerical simulation results are presented to show the effectiveness of the proposed robust constrained control scheme.
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Cited by
Cui, R., Yang, C., Li, Y., & Sharma, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2645699 · Cited by 538
Sun, K., Qiu, J., Karimi, H. R., & Fu, Y. (2021) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2020.2979129 · Cited by 334
Adaptive Controller Design-Based ABLF for a Class of Nonlinear Time-Varying State Constraint Systems
Liu, Y.-J., Lu, S., Li, D., & Tong, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2633007 · Cited by 284
Li, Y., & Tong, S. (2017) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2016.2574913 · Cited by 264
Niu, B., & Li, L. (2018) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2017.2690465 · Cited by 185
Metadata
- Authors
- Chen, M., Shi, P., & Lim, C.-C.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2015-12
- Volume
- 60
- Issue
- 12
- Pages
- 3281-3286
- ISSN
- 0018-9286 (ISSN-L)
- 1558-2523
- OpenAlex
- W2185249669
- Cited by
- 273
- References
- 0
- FWCI
- 27.22
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chen, M., Shi, P., & Lim, C.-C. (2015). Robust Constrained Control for MIMO Nonlinear Systems Based on Disturbance Observer. IEEE Transactions on Automatic Control. https://doi.org/10.1109/tac.2015.2450891
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