Robust output tracking controller design for a class of uncertain MIMO nonlinear systems

摘要: A new control design method based on signal compensation is proposed for a class of uncertain multi-input multioutput (MIMO) nonlinear systems in block-triangular form with uncertainties, external disturbances, unknown virtual coefficients and strongly coupled interconnections. By this method, the controller performed backstepping manner. At each step procedure, nominal first designed to get desired output tracking disturbance-free subsystem, then robust compensator restrain effect uncertainty, disturbance involved subsystem couplings among subsystems. It proved that global stability practical property closed-loop system can be ensured errors made as small desired. The trait our approach linear time-invariant, so explosion terms law avoid.