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Forwarding-based trajectory tracking control for nonlinear systems with bounded unknown disturbances

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  • Control Theory and Applications
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Abstract

There are only a few methods for controlling high-order nonlinear systems, except for standard backstepping technique. Due to the fact that I&I theory proposed by Astolfi and Ortega is able to accomplish the system immersion by selecting a lower-order target system and a vital mapping, a bottom-up recursive procedure for designing tracking control laws for a class of n-dimensional strict-feedback nonlinear systems is focused in our work. The required mappings are transformed into virtual control inputs, and system order reduction is realized as design step is implemented repetitively. A first-order filter is employed at each step to compute analytic derivatives of mappings. The benefit of our proposed algorithm can not only improve the computation efficiency to simplify all controls’ forms, but also suppress the high-frequency noise. While the off-the-manifold coordinate is rendered insensitive to the time-varying and bounded but unknown disturbance, the robust stability can be ultimately guaranteed. A quadrotor helicopter is used to show designing procedures and controller performance via various simulations.

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Authors and Affiliations

  1. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150001, P. R. China

    Xu Zhang, Xianlin Huang & Hongqian Lu

Authors
  1. Xu Zhang
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  2. Xianlin Huang
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  3. Hongqian Lu
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Corresponding author

Correspondence to Xianlin Huang.

Additional information

Recommended by Associate Editor Do Wan Kim under the direction of Editor Ju Hyun Park. This work was supported by the National Natural Science Foundation of China under Grant No. 51275107, No. 61304006 and No. 61273095, by the Innovative Team Program of the National Natural Science Foundation of China under Grant No. 61021002.

Xu Zhang received his M.S. from Harbin Institute of Technology, China, in 2010. He is currently pursuing a Ph.D. at the Center for Control Theory and Guidance Technology in Harbin Institute of Technology. His current research interests include control of underactuated mechanical systems, robust and adaptive control, differential geometry and immersion and invariance control.

Xianlin Huang received his M.S. and Ph.D. degrees from Harbin Institute of Technology, China, in 1985 and 1991, respectively. He is now a professor in the Department of Control Science and Control Engineering, Harbin Institute of Technology. His research interests include robust and adaptive control, complex system control, navigation and control techniques in aerospace engineering.

Hongqian Lu received his M.S. and Ph.D. degrees from Harbin Institute of Technology, China, in 2000 and 2006, respectively. Now he is an associate professor in the Department of Control Science and Control Engineering, Harbin Institute of Technology. His research interests include nonlinear control and applications, intelligent navigation and control techniques.

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Zhang, X., Huang, X. & Lu, H. Forwarding-based trajectory tracking control for nonlinear systems with bounded unknown disturbances. Int. J. Control Autom. Syst. 14, 1231–1243 (2016). https://doi.org/10.1007/s12555-015-0083-2

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  • DOI: https://doi.org/10.1007/s12555-015-0083-2

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