Global robust output regulation of a class of MIMO nonlinear systems by nonlinear internal model control

Recently, the global robust output regulation problem for a class of uncertain multi‐input multi‐output (MIMO) nonlinear systems which may not have well‐defined relative degree and are subject to a nonlinear exosystem has been studied based on a constructive nonlinear internal model. However, the proposed nonlinear internal model‐based control law is applicable to the case where the exogenous signals are reference input and/or measurable disturbance rather than unmeasurable disturbance. For this reason, this paper further studies the same control problem based on a general nonlinear internal model independent of the exogenous signal. It is shown that this control problem can be converted into a global robust stabilization problem of a more complicated MIMO nonlinear system with various uncertainties and well solved by a recursive state feedback controller design. Thus our approach applies to a broader class of output regulation problem of MIMO nonlinear systems.

[1]  Jie Huang,et al.  A class of nonlinear internal models for global robust output regulation problem , 2015 .

[2]  Jun-Guo Lu,et al.  Internal Model Control of PMSM Position Servo System: Theory and Experimental Results , 2020, IEEE Transactions on Industrial Informatics.

[3]  Jie Huang,et al.  A general formulation and solvability of the global robust output regulation problem , 2005, IEEE Trans. Autom. Control..

[4]  Zhengtao Ding,et al.  Global adaptive output regulation of a class of nonlinear systems with nonlinear exosystems , 2007, Autom..

[5]  L. Marconi,et al.  Output Stabilization via Nonlinear Luenberger Observers , 2006, SIAM J. Control. Optim..

[6]  Jie Huang,et al.  Cooperative Global Robust Output Regulation for a Class of Nonlinear Multi-Agent Systems With a Nonlinear Leader , 2016, IEEE Transactions on Automatic Control.

[7]  Lei Wang,et al.  Global Stabilization of a Class of Invertible MIMO Nonlinear Systems , 2015, IEEE Transactions on Automatic Control.

[8]  Alberto Isidori,et al.  Robust output regulation for invertible nonlinear MIMO systems , 2017, Autom..

[9]  Jie Huang,et al.  Stabilization and Regulation of Nonlinear Systems , 2015 .

[10]  Michelangelo Bin,et al.  Output regulation by postprocessing internal models for a class of multivariable nonlinear systems , 2019, International Journal of Robust and Nonlinear Control.

[11]  Zhiyong Chen,et al.  Robust precision attitude tracking of an uncertain rigid spacecraft based on regulation theory , 2019, International Journal of Robust and Nonlinear Control.

[12]  Jie Huang,et al.  Robust output regulation with nonlinear exosystems , 2005, Proceedings of the 2004 American Control Conference.

[13]  Li Shuai.  Adaptive speed tracking control of electric vehicles driven by permanent magnet synchronous motor , 2011 .

[14]  Zhiyong Chen,et al.  Review and recent development of internal model design , 2018 .

[15]  Christopher I. Byrnes,et al.  Limit sets, zero dynamics, and internal models in the problem of nonlinear output regulation , 2003, IEEE Trans. Autom. Control..

[16]  Lorenzo Marconi,et al.  Stabilization by Output Feedback of Multivariable Invertible Nonlinear Systems , 2017, IEEE Transactions on Automatic Control.

[17]  Jie Huang,et al.  New results on robust output regulation of nonlinear systems with a nonlinear exosystem , 2012 .

[18]  Hao Tang,et al.  Global robust output regulation of multivariable systems with nonlinear exosystem , 2016 .

[19]  Zhiyong Chen,et al.  Tracking of piezoelectric actuators with hysteresis: A nonlinear robust output regulation approach , 2017 .

[20]  Daniele Astolfi,et al.  Nonlinear Output Regulation by Post-Processing Internal Model for Multi-Input Multi-Output Systems , 2013, NOLCOS.

[21]  Ouassima Akhrif,et al.  Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer , 2000, IEEE Trans. Ind. Electron..

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

[23]  Eduardo Sontag,et al.  Changing supply functions in input/state stable systems , 1995, IEEE Trans. Autom. Control..

[24]  Lorenzo Marconi,et al.  Nonlinear output regulation for invertible nonlinear MIMO systems , 2016 .

[25]  Zhengtao Ding,et al.  Rejection of Nonharmonic Disturbances in Nonlinear Systems With Semi-Global Stability , 2008, IEEE Transactions on Circuits and Systems II: Express Briefs.

[26]  Lorenzo Marconi,et al.  Robust Autonomous Guidance , 2003 .

[27]  Jie Huang,et al.  A general framework for tackling the output regulation problem , 2004, IEEE Transactions on Automatic Control.

[28]  Huang Jie,et al.  AN OVERVIEW ON THE OUTPUT REGULATION PROBLEM , 2011 .

[29]  A. Isidori,et al.  Results on nonlinear output regulation for MIMO systems , 2006, 2006 American Control Conference.

[30]  Christopher I. Byrnes,et al.  Nonlinear internal models for output regulation , 2004, IEEE Transactions on Automatic Control.

[31]  Tingshu Hu,et al.  Characterization of Forced Vibration for Difference Inclusions: A Lyapunov Approach , 2007, IEEE Transactions on Circuits and Systems I: Regular Papers.

[32]  Yu Guo,et al.  Attitude Control for Flexible Spacecraft With Disturbance Rejection , 2017, IEEE Transactions on Aerospace and Electronic Systems.

[33]  Jie Huang,et al.  Global robust output regulation for a class of multivariable systems , 2013 .