Trajectory Tracking for Nonlinear Systems Using Composed Recursive Controllers

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.