DISTURBANCE REJECTION OF A CLASS OF NONLINEAR MIMO SYSTEMS USING ADAPTIVE INTERNAL MODELS

This paper deals with disturbance rejection with global stabilization of a class of nonlinear multi-input-multi-output (MIMO) systems using output feedback. The class of nonlinear MIMO systems are assumed to be transformed into an upperblock-triangular structure with each block in the output feedback form with respect to its own state variables, and the interactions among the outputs are allowed as long as they do not violate the upper-block-triangular structure. The disturbances are unknown and they are generated from an unknown exosystem. A new control design is proposed for the disturbance rejection of the class of MIMO systems using adaptive internal models. The proposed control design starts from the lowest block, based on a recent control design method proposed by the author, with possible adaptive backstepping design inside the block, and then moves forward to the subsequent block above until the control design of the block at the top is completed. The proposed control design ensures the complete disturbance rejection of unknown disturbances and the global stability of the closed-loop system. The disturbance frequencies are also estimated via the convergence of the adaptive parameters.

[1]  Zhengtao Ding,et al.  Global output regulation of uncertain nonlinear systems with exogenous signals , 2001, Autom..

[2]  Jie Huang,et al.  Decentralized Adaptive Output Regulation for Large-Scale Nonlinear Systems 1 , 2001 .

[3]  I. Kanellakopoulos,et al.  Adaptive tracking for a class of feedback linearizable systems , 1994, IEEE Trans. Autom. Control..

[4]  H. Khalil,et al.  Adaptive output feedback control of nonlinear systems represented by input-output models , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[5]  A. Isidori,et al.  Semiglobal nonlinear output regulation with adaptive internal model , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[6]  V. O. Nikiforov,et al.  Adaptive Non-linear Tracking with Complete Compensation of Unknown Disturbances , 1998, Eur. J. Control.

[7]  Jie Huang,et al.  On a nonlinear multivariable servomechanism problem , 1990, Autom..

[8]  Hassan K. Khalil,et al.  Robust Servomechanism Output Feedback Controllers for a Class of Feedback Linearizable Systems , 1993 .

[9]  Riccardo Marino,et al.  Global adaptive compensation of noises with unknown frequency , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

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

[11]  C. Byrnes.  Output Regulation of Uncertain Nonlinear Systems , 1997 .

[12]  Zhengtao Ding,et al.  Universal disturbance rejection for nonlinear systems in output feedback form , 2003, IEEE Trans. Autom. Control..

[13]  A. Isidori.  Nonlinear Control Systems , 1985 .

[14]  Petar V. Kokotovic,et al.  Tracking controllers for systems linear in the unmeasured states , 1995, Autom..

[15]  Zhengtao Ding,et al.  Global stabilization and disturbance suppression of a class of nonlinear systems with uncertain internal model , 2003, Autom..

[16]  A. Isidori,et al.  Global robust output regulation for a class of nonlinear systems , 2000 .

[17]  Zhengtao Ding.  Global output regulation with minimum information of uncertain nonlinear systems subject to exogenous signals , 2001 .

[18]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[19]  Pll Siinksen,et al.  Control , 1999, Diabetic medicine : a journal of the British Diabetic Association.

[20]  A. Isidori,et al.  Output regulation of nonlinear systems , 1990 .