Trajectory Tracking for Nonlinear Systems Using Composed Recursive Controllers
- Authors
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Haoping Wang
LAGIS-CNRS FRE 3303, Lille University of Science and Technology, 59655 Villeneuve d'Ascq, France
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Nicolai Cristov
LAGIS-CNRS FRE 3303, Lille University of Science and Technology, 59655 Villeneuve d'Ascq, France
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Christian Vasseur
LAGIS-CNRS FRE 3303, Lille University of Science and Technology, 59655 Villeneuve d'Ascq, France
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Vladan Koncar
Textile Engineering School ENSAIT, 59056 Roubaix, France
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- Abstract
- The paper deals with a new recursive controller for trajectory tracking of MIMO nonlinear affine in control systems. The proposed controller comprises stabilization and compensation sub-controllers and dose not require knowledge of the physical model parameters. The stabilization sub-controller is developed using the theory of a particular class of hybrid systems called piecewise continuous systems and characterized by autonomous switchings and controlled impulses. The compensation sub-controller is designed based on the time delay estimation theory. The proposed recursive controller is tested and compared with a classical PID controller for a three tank system.
- References
- Downloads
- Published
- 2011-12-21
- Issue
- Vol. 13 No. 4 (2011)
- Section
- Articles