Please use this identifier to cite or link to this item: https://hdl.handle.net/2440/129065
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Type: Journal article
Title: Robust constrained control for MIMO nonlinear systems based on disturbance observer
Author: Chen, M.
Shi, P.
Lim, C.C.
Citation: IEEE Transactions on Automatic Control, 2015; 60(12):3281-3286
Publisher: IEEE
Issue Date: 2015
ISSN: 0018-9286
1558-2523
Statement of
Responsibility: 
Mou Chen, Peng Shi, and Cheng-Chew Lim
Abstract: In this note, a robust constrained control scheme is proposed for mufti-input and mufti-output (MIMO) cascade nonlinear systems with unknown external disturbance and input saturation. To efficiently observe unknown external disturbance, a novel sliding mode disturbance observer (SMDO) with finite time convergence performance is presented. A robust constrained control scheme is developed for MIMO nonlinear systems based on backstepping control techniques and the disturbance estimate of the SMDO. With the first order sliding mode differentiator introduced to compute the derivatives of virtual control laws, the computational burden in backstepping control is reduced for a MIMO cascade nonlinear system. Numerical simulation results are presented to show the effectiveness of the proposed robust constrained control scheme.
Keywords: Backstepping control; constrained control; MIMO nonlinear system; robust control; sliding mode disturbance observer
Rights: 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
DOI: 10.1109/TAC.2015.2450891
Grant ID: http://purl.org/au-research/grants/arc/DP140102180
http://purl.org/au-research/grants/arc/LP140100471
http://purl.org/au-research/grants/arc/LE150100079
Published version: http://dx.doi.org/10.1109/tac.2015.2450891
Appears in Collections:Aurora harvest 4
Electrical and Electronic Engineering publications

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