Robust Tracking Control of Uncertain MIMO Nonlinear Systems with Application to UAVs

作     者：Yanlong Zhou Mou Chen Changsheng Jiang 

作者机构：the College of Automation Engineering Nanjing University of Aeronautics and Astronautics 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2015年第2卷第1期

页      面：25-32页

核心收录：

学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 

基　　金：supported by National Natural Science Foundation of China(61174102) Jiangsu Natural Science Foundation of China(SBK20130033) Aeronautical Science Foundation of China 20145152029) Specialized Research Fund for the Doctoral Program of Higher Education(20133218110013) 

主　　题：Aircraft control Airships Backstepping Closed loop control systems Closed loop systems Nonlinear systems Robust control Unmanned aerial vehicles (UAV) Unmanned vehicles 

摘      要：In this paper, we consider the robust adaptive tracking control of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance. The nonlinear disturbance observer (NDO) is employed to tackle the system uncertainty as well as the external disturbance. To handle the input saturation, an auxiliary system is constructed as a saturation compensator. By using the backstepping technique and the dynamic surface method, a robust adaptive tracking control scheme is developed. The closed-loop system is proved to be uniformly ultimately bounded thorough Lyapunov stability analysis. Simulation results with application to an unmanned aerial vehicle (UAV) demonstrate the effectiveness of the proposed robust control scheme. © 2014 Chinese Association of Automation.