IDEAS home Printed from https://ideas.repec.org/a/hin/jnljam/863168.html
   My bibliography  Save this article

Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems

Author

Listed:
  • Haiping Pang
  • Xiuqin Yang

Abstract

This paper addresses the problem of tracking a reference trajectory asymptotically given by a linear time-varying exosystem for a class of uncertain nonlinear MIMO systems based on the robust optimal sliding-mode control. The nonlinear MIMO system is transformed into a linear one by the input-output linearization technique, and at the same time the input-output decoupling is realized. Thus, the tracking error equation is established in a linear form, and the original nonlinear tracking problem is transformed into an optimal linear quadratic regulator (LQR) tracking problem. A LQR tracking controller (LQRTC) is designed for the corresponding nominal system, and the integral sliding-mode strategy is used to robustify the LQRTC. As a result, the original system exhibits global robustness to the uncertainties, and the tracking dynamics is the same as that of LQRTC for the nominal system. So a robust optimal sliding-mode tracking controller (ROSMTC) is realized. The proposed controller is applied to a two-link robot system, and simulation results show its effectiveness and superiority.

Suggested Citation

  • Haiping Pang & Xiuqin Yang, 2013. "Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems," Journal of Applied Mathematics, Hindawi, vol. 2013, pages 1-9, October.
    • Handle: RePEc:hin:jnljam:863168
    DOI: 10.1155/2013/863168
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/JAM/2013/863168.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/JAM/2013/863168.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2013/863168?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnljam:863168. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.