Performance Analysis of Observer-Based Robust Predictive Tracking Control for a Class of Uncertain Nonlinear Systems

Abstract

The article considers the tracking problem for a class of uncertain nonlinear systems with both uncertain parameters and external disturbances. A high-order extended state observer (ESO)-based robust predictive tracking controller is designed, and the performance of the resulting closed-loop system is comprehensively analyzed. It is proven that the output of closed-loop system can approach its ideal trajectory in the transient process against different kinds of uncertainties by tuning the bandwidth of the ESO. Furthermore, the effectiveness and robustness of the controller are validated through simulations conducted on a motion control system with uncertain parameters and disturbances. Moreover, the proposed controller is applied to a piezoelectric nanomanipulating system known for its significant nonlinear uncertainties. Experimental results affirm the superior accuracy of our method in tracking time-varying signals, even in the presence of disturbances and uncertainties.