Robust tracking design for uncertain MIMO systems using proportional–integral controller of order v

Abstract

This paper provides a systematic method to design robust tracking controllers of reference signals with bounded derivatives of order ν for uncertain multiinput multi-output (MIMO) systems with bounded parametric uncertainties, in particular, of rational multi-affine type, and/or in presence of disturbances with bounded derivatives of order ν. The proposed controllers have statefeedback structures combined with proportional-integral regulators of order ν (PI ν ). Theoretical tools and systematic methodologies are provided to effectively design robust controllers for the considered systems, also in case of additional bounded nonlinearities and/or not directly measurable states. Applicability and efficiency of the proposed methods are validated through three examples: the first one is theoretical and useful to validate the proposed methodology, the second case study presents a metal-cutting problem for an industrial robot, and the third example deals with a composite robot, such as a milling machine.

Majorant-Based Control Methodology for Mechatronic and Transportation Processes

“…Consequently, there is still a high demand for smooth robust controllers that allow a plant belonging to a broad class of uncertain nonlinear systems, including mechatronic and transportation systems, to track a sufficiently smooth reference signal with a tracking error norm less than a prescribed value, despite the presence of disturbances, parametric and structural uncertainties, measurement errors, and using real actuators and/or amplifiers. Concerning the above issues, for uncertain linear MIMO systems with bounded additional nonlinearities, a systematic method has recently been presented in [38]. Instead, this paper presents a comprehensive and unified approach via majorant systems that can be successfully applied to numerous engineering systems (e.g., control of rolling mills, conveyor belts, automatic guided vehicles (AGVs), unicycles, cars, trains, ships, airplanes, drones, missiles, satellites, manufacturing and surgical robots).…”