Paper Info
Title
Output Feedback Approximation-Free Prescribed Performance Tracking Control for Uncertain MIMO Nonlinear Systems
Abstract
We consider the problem of designing a low-complexity, approximation-free, output-feedback controller to achieve output tracking with prescribed transient and steady-state performance for uncertain, high relative degree, multi-input-multi-output (MIMO) nonlinear systems, which are equivalent via a diffeomorphic coordinate transformation to the Byrnes-Isidori canonical form, with uniform-bounded-input-bounded-state (UBIBS) stable internal dynamics and bounded external disturbances. The proposed controller utilizes the prescribed performance control methodology and high-gain observers. To avoid the propagation of the peaking phenomenon, the developed controller is appropriately saturated without compromising the closed-loop system performance attributes. Moreover, the selection of the observer gains is significantly relaxed owing to the fact that the adopted prescribed performance control technique seeks only for boundedness properties to establish the desired transient and steady-state performance specifications. Finally, various simulation studies clarify and verify the approach.
Year
DOI
Venue
2020
10.1109/TAC.2020.2970003
IEEE Transactions on Automatic Control
Keywords
DocType
Volume
Output-feedback control,prescribed performance control (PPC),uncertain nonlinear systems
Journal
65
Issue
ISSN
Citations 
12
0018-9286
7
PageRank 
References 
Authors
0.46
7
3
Name
Order
Citations
PageRank
Ioannis S. Dimanidis170.46
Charalampos P. Bechlioulis256631.81
George A. Rovithakis374945.73