Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator

Tian，Guangtai1,2; Duan，Guangren1,2

2022

10.1002/rnc.6450

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL   影响因子和分区

1049-8923

1099-1239

In this article, robust model reference control for uncertain second-order nonlinear systems is investigated by applying fully actuated system approaches. A robust stabilizing control law is constructed for the uncertain systems based on the Lyapunov stability theory. With the obtained robust control results, a robust model reference tracking (RMRT) control scheme is proposed to ensure the tracking error finally converges globally into a bounded ellipsoid. The established RMRT controller is composed of three parts, the basic part cancels the known nonlinearities in the system and simultaneously assigns the linear dominant term in the closed-loop system, the robustness part overcomes the effects of the nonlinear uncertainties in the system, the compensator part compensates the effect of the reference model state and reference control input to the tracking error. Furthermore, based on a general parametric solution to the type of Sylvester matrix equations, simple and complete parameterization of the RMRT control designs is provided. An application to robot manipulator indicates satisfactory control system performances with the proposed RMRT control scheme.

fully actuated system (FAS) approaches nonlinear uncertainties robust control robust model reference tracking (RMRT) second-order nonlinear systems

SCI ; EI

英语

第一 ; 通讯

National Natural Science Foundation of China["61333003","61690210","61690212","62203207","62188101"]

Automation & Control Systems ; Engineering ; Mathematics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied

WOS:000879888900001

WILEY

20224613105320

Closed loop control systems ; Flexible manipulators ; Industrial robots ; Matrix algebra ; Modular robots ; Nonlinear systems ; Robot applications

Automatic Control Principles and Applications:731 ; Control Systems:731.1 ; Robotics:731.5 ; Robot Applications:731.6 ; Algebra:921.1 ; Systems Science:961

ENGINEERING

2-s2.0-85141628249

Scopus

1.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,China
2.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,China

Tian，Guangtai,Duan，Guangren. Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2022,33(3):1750-1771.

Tian，Guangtai,&Duan，Guangren.(2022).Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,33(3),1750-1771.

Tian，Guangtai,et al."Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 33.3(2022):1750-1771.