Ghrab Sonia, Ali Sofiane Ahmed, Benamor Anouar, Langlois Nicolas, Messaoud Hassani
Laboratory of Control, Signal and Image Processing, National School of Engineers, University of Monastir, Street Ibn El Jazzar, 5019 Monastir, Tunisia.
IBISC Laboratory, Evry Val-d'Essonne University, Universite Paris-Saclay, Evry, France.
ISA Trans. 2024 Feb;145:1-18. doi: 10.1016/j.isatra.2023.11.024. Epub 2023 Nov 21.
This paper proposes a novel robust tracking control scheme for discrete time linear uncertain Multiple-Input Multiple-Output (MIMO) systems subject to time-varying delay on the states. The considered system is affected by unknown but norm bounded uncertainties on parameters as well as matched disturbances on the states. The designed controller is based upon a proposed novel integral sliding surface and a new switching type of reaching law. Sufficient conditions based on Linear Matrix Inequalities (LMIs) and a suitable Lyapunov-Krasovskii Functional (LKF) are derived in order to guarantee the asymptotic stability of such system. The proposed controller ensures a good tracking performance despite the presence of the time varying delay and the matched/unmatched disturbances. Moreover and thanks to the proposed integral surface, the time reaching phase is eliminated and the chattering phenomenon is significantly reduced. The proposed controller is applied on an Autonomous Underwater Vehicle (AUV) to follow a prescribed desired trajectory. The simulation results illustrate the effectiveness of such controller.
本文针对状态存在时变延迟的离散时间线性不确定多输入多输出（MIMO）系统，提出了一种新颖的鲁棒跟踪控制方案。所考虑的系统受到参数上未知但范数有界的不确定性以及状态上匹配干扰的影响。所设计的控制器基于一种提出的新颖积分滑模面和一种新的切换型趋近律。基于线性矩阵不等式（LMI）和合适的李雅普诺夫 - 克拉索夫斯基泛函（LKF）推导出充分条件，以保证此类系统的渐近稳定性。所提出的控制器尽管存在时变延迟以及匹配/不匹配干扰，仍能确保良好的跟踪性能。此外，由于所提出的积分面，消除了到达时间阶段，并显著减少了抖振现象。所提出 的控制器应用于自主水下航行器（AUV）以跟踪规定的期望轨迹。仿真结果说明了这种控制器的有效性。
