Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

This paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the prop...

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Main Authors: Fu Mingyu, Xu Yujie
Format: Article
Language:English
Published: Hindawi Limited 2017-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2017/9452171
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spelling doaj-d0bafa91182c438684a900b985f2d3812020-11-24T22:20:43ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472017-01-01201710.1155/2017/94521719452171Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric SaturationsFu Mingyu0Xu Yujie1College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaThis paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the proposed control strategy, a terminal sliding mode disturbance observer is provided to estimate the augmented disturbance (which contains the unknown asymmetric input saturation and external disturbance). The approximation error of the augmented disturbance can converge to zero in a fixed finite-time interval. Furthermore, a novel finite-time tracking control algorithm is developed to guarantee fast convergence of the tracking error. Compared with the existing results on finite-time tracking control, the chattering problem and the input saturation problem can be solved in a unified framework. Several simulations are given to demonstrate the effectiveness of the proposed approach.http://dx.doi.org/10.1155/2017/9452171
collection DOAJ
language English
format Article
sources DOAJ
author Fu Mingyu
Xu Yujie
spellingShingle Fu Mingyu
Xu Yujie
Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations
Mathematical Problems in Engineering
author_facet Fu Mingyu
Xu Yujie
author_sort Fu Mingyu
title Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations
title_short Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations
title_full Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations
title_fullStr Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations
title_full_unstemmed Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations
title_sort finite-time tracking control for a class of mimo nonlinear systems with unknown asymmetric saturations
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2017-01-01
description This paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the proposed control strategy, a terminal sliding mode disturbance observer is provided to estimate the augmented disturbance (which contains the unknown asymmetric input saturation and external disturbance). The approximation error of the augmented disturbance can converge to zero in a fixed finite-time interval. Furthermore, a novel finite-time tracking control algorithm is developed to guarantee fast convergence of the tracking error. Compared with the existing results on finite-time tracking control, the chattering problem and the input saturation problem can be solved in a unified framework. Several simulations are given to demonstrate the effectiveness of the proposed approach.
url http://dx.doi.org/10.1155/2017/9452171
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AT xuyujie finitetimetrackingcontrolforaclassofmimononlinearsystemswithunknownasymmetricsaturations
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