This study focuses on the development of a new class of the Robust Integral of the Sign of the Error (RISE) control law adequate for second-order nonlinear multi-input-multi-output systems. A revisit for the original RISE is done by altering some static feedback gains into time-varying nonlinear ones depending on the system states. The proposed controller takes advantage of both RISE control robustness towards uncertainties and the special behavior of nonlinear feedback gains towards time-varied parameters. A Lyaponuv-based stability analysis to prove the semiglobal asymptotic tracking of the proposed new controller is included. In order to validate the relevance of the proposed controller, real-time experimental results are presented and discussed. Experiments have been conducted on a Delta parallel manipulator, in different operating conditions including payload and speed variations.
- A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments
- Hussein Saied - Laboratoire d'Informatique, de Robotique et de Microélectronique de MontpellierAhmed Chemori - Laboratoire d'Informatique, de Robotique et de Microélectronique de MontpellierMohamed Bouri - École Polytechnique Fédérale de LausanneMaher El Rafei - Scientific Research Center in EngineeringClovis Francis - Lebanese UniversityFrancois PIERROT - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
- International Journal of Control
- 9945733109311
- Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
- English
- Journal article
- lirmm-02406094