Global Exact Tracking for Uncertain Multivariable Systems by Switching Adaptation

Abstract In this paper, we propose an output feedback sliding mode controller to solve the problem of global exact output tracking for uncertain multivariable linear plants with non-uniform arbitrary relative degree. The controller is based on a hybrid estimation scheme, which adapts the relative degree compensation through switching between a high-gain observer and a set of locally exact differentiators. As a result, uniform global exponential practical stability and exact tracking are achieved with peaking free control signal.

[1]  S. V. Emel'Yanov,et al.  Discontinuous output feedback stabilizing an uncertain MIMO plant , 1992 .

[2]  Shouchuan Hu.  Differential equations with discontinuous right-hand sides☆ , 1991 .

[3]  Hassan K. Khalil,et al.  Nonlinear Output-Feedback Tracking Using High-gain Observer and Variable Structure Control, , 1997, Autom..

[4]  Christopher Edwards,et al.  An output feedback sliding mode control strategy for MIMO systems of arbitrary relative degree , 2007 .

[5]  Liu Hsu,et al.  Global Exact Tracking for Uncertain Systems Using Output-Feedback Sliding Mode Control , 2009, IEEE Transactions on Automatic Control.

[6]  L. Fridman,et al.  Higher‐order sliding‐mode observer for state estimation and input reconstruction in nonlinear systems , 2008 .

[7]  João Pedro Hespanha,et al.  Overcoming the limitations of adaptive control by means of logic-based switching , 2003, Syst. Control. Lett..

[8]  Yuri B. Shtessel,et al.  Nonminimum‐phase output tracking in causal systems using higher‐order sliding modes , 2008 .

[9]  Y. ORLOV,et al.  Finite Time Stability and Robust Control Synthesis of Uncertain Switched Systems , 2004, SIAM J. Control. Optim..

[10]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[11]  L. Hsu,et al.  Global output feedback tracking controller based on hybrid estimation for a class of uncertain nonlinear systems. , 2008, 2008 International Workshop on Variable Structure Systems.

[12]  Arie Levant,et al.  Higher-order sliding modes, differentiation and output-feedback control , 2003 .

[13]  Liu Hsu,et al.  Multivariable Output-Feedback Sliding Mode Control , 2002 .

[14]  Arie Levant,et al.  Exact Differentiation of Signals with Unbounded Higher Derivatives , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[15]  Thomas Kailath,et al.  Linear Systems , 1980 .

[16]  H. Khalil,et al.  Output feedback stabilization of fully linearizable systems , 1992 .

[17]  Zhong-Ping Jiang,et al.  A small-gain control method for nonlinear cascaded systems with dynamic uncertainties , 1997, IEEE Trans. Autom. Control..

[18]  Liu Hsu,et al.  Control of uncertain nonlinear systems with arbitrary relative degree and unknown control direction using sliding modes , 2007 .

[19]  Liu Hsu,et al.  Peaking free output-feedback control of uncertain nonlinear systems , 2008, 2008 American Control Conference.

[20]  Liu Hsu,et al.  Global exact tracking for uncertain multivariable linear systems by output feedback sliding mode control , 2010, Proceedings of the 2010 American Control Conference.