Prescribed Performance Tracking of Uncertain MIMO Nonlinear Systems in the Presence of Delays

• 成果类型: Article
• 署名作者: Bikas, Lampros N. N.; Rovithakis, George A. A.
• 署名单位: Aristotle University of Thessaloniki
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3135276
• 发表日期: 2023
• 页码: 96-107
• 关键词: Delays; Prescribed performance tracking; uncertain multi-input and multi-output (MIMO) nonlinear systems

摘要

In this article, we design a low-complexity state-feedback controller for uncertain multi-input and multi-output (MIMO) nonlinear systems, capable of imposing prespecified performance attributes (in terms of maximum steady-state error and minimum convergence rate) on the output tracking errors, in the presence of time-varying delays both in the state measurement and control input signals. The state measurement delay is considered known and the control input delay unknown though bounded by some known constant. The control design does not incorporate any knowledge regarding the controlled system nonlinearities and does not require derivatives of the desired trajectories. We verify the theoretical results by simulation studies performed on a two-link robotic manipulator.