Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1116-1128

https://doi.org/10.1007/s12555-021-0974-3

© The International Journal of Control, Automation, and Systems

Robust Output Tracking Control of Uncertain Nonaffine Systems With Guaranteed Tracking Error Bounds

Zhixiang Chen, Wenyan Bai*, and Lingjian Kong

Beijing Aerospace Automatic Control Institute

Abstract

This paper considers the output tracking problem for uncertain nonaffine systems. A robust output tracking controller for a class of uncertain nonaffine strict-feedback systems with guaranteed tracking error bounds is proposed. First, a diffeomorphism is employed to convert the strict-feedback nonaffine system with mismatched uncertainties into a feedback linearization nonaffine system (FLNS). Second, for the transformed FLNS, an error transformation and sliding surface technique are combined to transform the constrained tracking problem of a highorder system into an unconstrained stabilization problem of a first-order system when visualizing the guaranteed tracking error bound as a tracking error constraint. Then, a saturated approximate dynamic inversion scheme and an extended state observer are combined to achieve the stabilization of the transformed first-order nonaffine system. The stability of the closed-loop system is analyzed rigorously and it is sufficient to guarantee that the tracking error constraint can be achieved and all system states are semi-globally uniformly bounded for the original system. Simulation results clarify and verify the effectiveness of the proposed method.

Keywords Approximate dynamic inversion, extended state observer, input saturation, output feedback, robust control, uncertain nonaffine systems.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1116-1128

Published online April 1, 2024 https://doi.org/10.1007/s12555-021-0974-3

Copyright © The International Journal of Control, Automation, and Systems.

Robust Output Tracking Control of Uncertain Nonaffine Systems With Guaranteed Tracking Error Bounds

Zhixiang Chen, Wenyan Bai*, and Lingjian Kong

Beijing Aerospace Automatic Control Institute

Abstract

This paper considers the output tracking problem for uncertain nonaffine systems. A robust output tracking controller for a class of uncertain nonaffine strict-feedback systems with guaranteed tracking error bounds is proposed. First, a diffeomorphism is employed to convert the strict-feedback nonaffine system with mismatched uncertainties into a feedback linearization nonaffine system (FLNS). Second, for the transformed FLNS, an error transformation and sliding surface technique are combined to transform the constrained tracking problem of a highorder system into an unconstrained stabilization problem of a first-order system when visualizing the guaranteed tracking error bound as a tracking error constraint. Then, a saturated approximate dynamic inversion scheme and an extended state observer are combined to achieve the stabilization of the transformed first-order nonaffine system. The stability of the closed-loop system is analyzed rigorously and it is sufficient to guarantee that the tracking error constraint can be achieved and all system states are semi-globally uniformly bounded for the original system. Simulation results clarify and verify the effectiveness of the proposed method.

Keywords: Approximate dynamic inversion, extended state observer, input saturation, output feedback, robust control, uncertain nonaffine systems.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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