Asymptotic Tracking and Dynamic Regulation of MIMO Nonaffine Nonlinear System With Actuator Saturation via Multidimensional Taylor Network Controller

Control input acting on the system in the form of nonlinear implicit tends to exert great impacts on the dynamic behavior of the multiple-input–multiple-output (MIMO) nonaffine nonlinear system with actuator saturation, posing a great challenge to its tracking control and dynamic regulation. Performance optimization and design simplicity are hardly taken simultaneously into account by existing controllers. For this sake, the multidimensional Taylor network (MTN) controller, which involves both transient improvement and design simplicity, is proposed here. The MTN controller, as a novel one with a fixed structure, is capable of making the proposed system asymptotically track the reference with no need of system information except for the control direction. A performance index related to the transient improvement by dynamic regulation is established. Parameters of the MTN controller are adapted for the optimization problem in line with this performance index of the arbitrary approximation by the polynomial function. The existence and the realizability of the solution to the optimization problem are demonstrated. Specific steps of the controller design are given. The effectiveness of the proposed controller is confirmed by its theoretical analysis as well as its application to a two-link manipulator system.