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Volume 2 Issue 1
Jan.  2015

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2015  >  2(1): 25-32
Yanlong Zhou, Mou Chen and Changsheng Jiang, "Robust Tracking Control of Uncertain MIMO Nonlinear Systems with Application to UAVs," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 25-32, 2015.
Citation: Yanlong Zhou, Mou Chen and Changsheng Jiang, "Robust Tracking Control of Uncertain MIMO Nonlinear Systems with Application to UAVs," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 25-32, 2015.
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Robust Tracking Control of Uncertain MIMO Nonlinear Systems with Application to UAVs

  • College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Funds:

This work was supported by National Natural Science Foundation of China (61174102), Jiangsu Natural Science Foundation of China (SBK20130033), Aeronautical Science Foundation of China 20145152029) and Specialized Research Fund for the Doctoral Program of Higher Education (20133218110013).

    Abstract
  • 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.

     

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