Robust tracking control of uncertain MIMO nonlinear systems with application to UAVs

In this paper, we consider the robust adaptive tracking control of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance. The nonlinear disturbance observer (NDO) is employed to tackle the system uncertainty as well as the external disturbance. To handle the input saturation, an auxiliary system is constructed as a saturation compensator. By using the backstepping technique and the dynamic surface method, a robust adaptive tracking control scheme is developed. The closed-loop system is proved to be uniformly ultimately bounded thorough Lyapunov stability analysis. Simulation results with application to an unmanned aerial vehicle (UAV) demonstrate the effectiveness of the proposed robust control scheme.

[1]  Shaocheng Tong,et al.  Direct adaptive fuzzy backstepping control of uncertain nonlinear systems in the presence of input saturation , 2012, Neural Computing and Applications.

[2]  Bin Jiang,et al.  Robust attitude control of near space vehicles with time-varying disturbances , 2013 .

[3]  Michael J. Kurtz,et al.  Input-output linearizing control of constrained nonlinear processes , 1997 .

[4]  Changyin Sun,et al.  Design of flight control system for a Hypersonic Gliding Vehicle based on nonlinear disturbance observer , 2013, 2013 10th IEEE International Conference on Control and Automation (ICCA).

[5]  Tao Guo,et al.  Adaptive Backstepping Control for Constrained Systems Using Nonlinear Mapping: Adaptive Backstepping Control for Constrained Systems Using Nonlinear Mapping , 2014 .

[6]  Bin Jiang,et al.  Robust control of near-space vehicles with input backlash-like hysteresis , 2013, J. Syst. Control. Eng..

[7]  Bin Jiang,et al.  Sliding Mode Control for a Class of Uncertain MIMO Nonlinear Systems with Application to Near-Space Vehicles , 2013 .

[8]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[9]  Marios M. Polycarpou,et al.  Stable adaptive neural control scheme for nonlinear systems , 1996, IEEE Trans. Autom. Control..

[10]  Jing Zhou,et al.  Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance , 2011, IEEE Transactions on Automatic Control.

[11]  Shaocheng Tong,et al.  A DSC Approach to Robust Adaptive NN Tracking Control for Strict-Feedback Nonlinear Systems , 2008, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[12]  Wen-Hua Chen,et al.  Nonlinear Disturbance Observer-Enhanced Dynamic Inversion Control of Missiles , 2003 .

[13]  Ji Cheng-xin.  Key Technology and Application of Military Unmanned Aerial Vehicles , 2009 .

[14]  Shaocheng Tong,et al.  Adaptive fuzzy output feedback control of MIMO nonlinear uncertain systems with time-varying delays and unknown backlash-like hysteresis , 2012, Neurocomputing.

[15]  Shuzhi Sam Ge,et al.  Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints , 2011, Autom..

[16]  Mou Chen,et al.  Modeling and control for near-space vehicles with oblique wing , 2012, Proceedings of the 10th World Congress on Intelligent Control and Automation.

[17]  Derong Liu,et al.  A neural-network-based iterative GDHP approach for solving a class of nonlinear optimal control problems with control constraints , 2011, Neural Computing and Applications.

[18]  Tieshan Li,et al.  Adaptive neural control of nonlinear MIMO systems with unknown time delays , 2012, Neurocomputing.

[19]  Chong Lin,et al.  Adaptive neural tracking control for a class of perturbed pure-feedback nonlinear systems , 2013 .

[20]  Zao-Jian Zou,et al.  DSC-backstepping Based Robust Adaptive NN Control for Nonlinear Systems: DSC-backstepping Based Robust Adaptive NN Control for Nonlinear Systems , 2009 .

[21]  Shuzhi Sam Ge,et al.  Neural network tracking control of ocean surface vessels with input saturation , 2009, 2009 IEEE International Conference on Automation and Logistics.

[22]  Sarangapani Jagannathan,et al.  Output Feedback Control of a Quadrotor UAV Using Neural Networks , 2010, IEEE Transactions on Neural Networks.

[23]  Jia Tao,et al.  Adaptive Fuzzy Dynamic Surface Control for a Class of Nonlinear Systems with Unknown Time-delays , 2011 .

[24]  Shuzhi Sam Ge,et al.  Robust Adaptive Neural Network Control for a Class of Uncertain MIMO Nonlinear Systems With Input Nonlinearities , 2010, IEEE Transactions on Neural Networks.

[25]  Yan-Jun Liu,et al.  Adaptive fuzzy control for a class of nonlinear systems with unknown time-delays , 2008, 2008 7th World Congress on Intelligent Control and Automation.

[26]  Derong Liu,et al.  An iterative adaptive dynamic programming algorithm for optimal control of unknown discrete-time nonlinear systems with constrained inputs , 2013, Inf. Sci..

[27]  Anuradha M. Annaswamy,et al.  Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations , 2013, IEEE Transactions on Control Systems Technology.

[28]  Li Tie.  DSC-backstepping Based Robust Adaptive NN Control for Nonlinear Systems , 2008 .

[29]  Shaocheng Tong,et al.  Adaptive fuzzy fault-tolerant decentralized control for uncertain nonlinear large-scale systems based on dynamic surface control technique , 2014, J. Frankl. Inst..

[30]  Wen-Hua Chen,et al.  Sliding mode control for a class of uncertain nonlinear system based on disturbance observer , 2009 .

[31]  Guo Ta.  Adaptive Backstepping Control for Constrained Systems Using Nonlinear Mapping , 2013 .

[32]  Sarangapani Jagannathan,et al.  Neural Network-Based Optimal Adaptive Output Feedback Control of a Helicopter UAV , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[33]  Keng Peng Tee,et al.  Control of fully actuated ocean surface vessels using a class of feedforward approximators , 2006, IEEE Transactions on Control Systems Technology.

[34]  Liu Xiangjie.  Continuous-time nonlinear model predictive control with input/output linearization , 2012 .

[35]  Cheng Lu.  Application of adaptive second-order dynamic terminal sliding mode control to near space vehicle , 2010 .

[36]  J. Karl Hedrick,et al.  Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control , 2009, IEEE Transactions on Control Systems Technology.

[37]  Tong Heng Lee,et al.  A Comprehensive UAV Indoor Navigation System Based on Vision Optical Flow and Laser FastSLAM , 2013 .

[38]  Tieshan Li,et al.  DSC Approach to  Robust Adaptive Fuzzy Tracking Control for Strict-Feedback Nonlinear Systems , 2008, 2008 Fifth International Conference on Fuzzy Systems and Knowledge Discovery.

[39]  Swaroop Darbha,et al.  Dynamic surface control for a class of nonlinear systems , 2000, IEEE Trans. Autom. Control..

[40]  S. S. Ge,et al.  Synchronised tracking control of multi-agent system with high order dynamics , 2012 .

[41]  Li Tieshan,et al.  DSC-backstepping Based Robust Adaptive NN Control for Nonlinear Systems , 2008 .