A Novel Method of Robust Trajectory Linearization Control Based on Disturbance Rejection

Xingling Shao and Honglun Wang

Mathematical Problems in Engineering, 2014, vol. 2014, 1-10

Abstract:

A novel method of robust trajectory linearization control for a class of nonlinear systems with uncertainties based on disturbance rejection is proposed. Firstly, on the basis of trajectory linearization control (TLC) method, a feedback linearization based control law is designed to transform the original tracking error dynamics to the canonical integral-chain form. To address the issue of reducing the influence made by uncertainties, with tracking error as input, linear extended state observer (LESO) is constructed to estimate the tracking error vector, as well as the uncertainties in an integrated manner. Meanwhile, the boundedness of the estimated error is investigated by theoretical analysis. In addition, decoupled controller (which has the characteristic of well-tuning and simple form) based on LESO is synthesized to realize the output tracking for closed-loop system. The closed-loop stability of the system under the proposed LESO-based control structure is established. Also, simulation results are presented to illustrate the effectiveness of the control strategy.

Date: 2014
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2014/129247.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2014/129247.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:129247

DOI: 10.1155/2014/129247

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().