Asymptotic Tracking Control for Uncertain MIMO Nonlinear Systems With Guaranteed Performance and Enhanced Controllability

Bing ZHOU; Xiucai HUANG; Yongduan SONG; Frank L. LEWIS

doi:10.1109/TAC.2023.3343388

Asymptotic Tracking Control for Uncertain MIMO Nonlinear Systems With Guaranteed Performance and Enhanced Controllability

Bing ZHOU
, Xiucai HUANG^*
, Yongduan SONG
, Frank L. LEWIS

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

17 Citations (Scopus)

Abstract

Most existing control methods for multi-input multi-output (MIMO) uncertain nonlinear systems can only achieve uniformly ultimately bounded stability with conservative controllability condition. In this note, for a larger class of uncertain MIMO strict-feedback nonlinear systems, we present a control solution with enhanced controllability condition by resorting to certain feasible auxiliary matrices, upon which a neural adaptive control scheme is developed that is able to achieve asymptotic tracking with guaranteed preassignable transient and steady-state performance in the presence of mismatched uncertainties and unknown yet time-varying control gain matrices, besides the semiglobal ultimate uniform boundedness of the closed-loop signals. The salient feature of the proposed solution lies in its wider applicability and better control performance. Furthermore, the proposed solution does not involve any filter and the issue of the explosion of complexity is avoided. Numerical simulation also confirms the effectiveness of the proposed method.

Original language	English
Pages (from-to)	4005-4012
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	69
Issue number	6
Early online date	15 Dec 2023
DOIs	https://doi.org/10.1109/TAC.2023.3343388
Publication status	Published - Jun 2024
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 1963-2012 IEEE.

Funding

This work was supported in part by the National Key Research and Development Program of China under Grant 2022YFB4701400/4701401, in part by the Graduate Scientific Research and Innovation Foundation of Chongqing under Grant CYB23052, in part by the National Natural Science Foundation of China under Grant 61991400, Grant 61991403, Grant 61860206008, Grant 62303080, and Grant 61933012, in part by the Chongqing Human Resources and Social Security Bureau under Grant cx2021114, in part by the Fundamental Research Funds for the Central Universities under Grant 2021CDJCGJ002, in part by the China Postdoctoral Science Foundation under Grant 2022M720570, and in part by the Natural Science Foundation of Chongqing under Grant CSTB2022NSCQ-MSX0609.

Keywords

Enhanced controllability
multi-input multi-output (MIMO) strict-feedback systems
prescribed performance
time-varying control gain

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10.1109/TAC.2023.3343388

Cite this

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title = "Asymptotic Tracking Control for Uncertain MIMO Nonlinear Systems With Guaranteed Performance and Enhanced Controllability",

abstract = "Most existing control methods for multi-input multi-output (MIMO) uncertain nonlinear systems can only achieve uniformly ultimately bounded stability with conservative controllability condition. In this note, for a larger class of uncertain MIMO strict-feedback nonlinear systems, we present a control solution with enhanced controllability condition by resorting to certain feasible auxiliary matrices, upon which a neural adaptive control scheme is developed that is able to achieve asymptotic tracking with guaranteed preassignable transient and steady-state performance in the presence of mismatched uncertainties and unknown yet time-varying control gain matrices, besides the semiglobal ultimate uniform boundedness of the closed-loop signals. The salient feature of the proposed solution lies in its wider applicability and better control performance. Furthermore, the proposed solution does not involve any filter and the issue of the explosion of complexity is avoided. Numerical simulation also confirms the effectiveness of the proposed method.",

keywords = "Enhanced controllability, multi-input multi-output (MIMO) strict-feedback systems, prescribed performance, time-varying control gain",

author = "Bing ZHOU and Xiucai HUANG and Yongduan SONG and LEWIS, \{Frank L.\}",

note = "Publisher Copyright: {\textcopyright} 1963-2012 IEEE.",

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language = "English",

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T1 - Asymptotic Tracking Control for Uncertain MIMO Nonlinear Systems With Guaranteed Performance and Enhanced Controllability

AU - ZHOU, Bing

AU - HUANG, Xiucai

AU - SONG, Yongduan

AU - LEWIS, Frank L.

PY - 2024/6

Y1 - 2024/6

N2 - Most existing control methods for multi-input multi-output (MIMO) uncertain nonlinear systems can only achieve uniformly ultimately bounded stability with conservative controllability condition. In this note, for a larger class of uncertain MIMO strict-feedback nonlinear systems, we present a control solution with enhanced controllability condition by resorting to certain feasible auxiliary matrices, upon which a neural adaptive control scheme is developed that is able to achieve asymptotic tracking with guaranteed preassignable transient and steady-state performance in the presence of mismatched uncertainties and unknown yet time-varying control gain matrices, besides the semiglobal ultimate uniform boundedness of the closed-loop signals. The salient feature of the proposed solution lies in its wider applicability and better control performance. Furthermore, the proposed solution does not involve any filter and the issue of the explosion of complexity is avoided. Numerical simulation also confirms the effectiveness of the proposed method.

AB - Most existing control methods for multi-input multi-output (MIMO) uncertain nonlinear systems can only achieve uniformly ultimately bounded stability with conservative controllability condition. In this note, for a larger class of uncertain MIMO strict-feedback nonlinear systems, we present a control solution with enhanced controllability condition by resorting to certain feasible auxiliary matrices, upon which a neural adaptive control scheme is developed that is able to achieve asymptotic tracking with guaranteed preassignable transient and steady-state performance in the presence of mismatched uncertainties and unknown yet time-varying control gain matrices, besides the semiglobal ultimate uniform boundedness of the closed-loop signals. The salient feature of the proposed solution lies in its wider applicability and better control performance. Furthermore, the proposed solution does not involve any filter and the issue of the explosion of complexity is avoided. Numerical simulation also confirms the effectiveness of the proposed method.

KW - Enhanced controllability

KW - multi-input multi-output (MIMO) strict-feedback systems

KW - prescribed performance

KW - time-varying control gain

UR - https://www.scopus.com/pages/publications/85180331542

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M3 - Journal Article (refereed)

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JF - IEEE Transactions on Automatic Control

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ER -

Asymptotic Tracking Control for Uncertain MIMO Nonlinear Systems With Guaranteed Performance and Enhanced Controllability

Abstract

Bibliographical note

Funding

Keywords

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