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Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach
Wu, Ze-Hao1; Guo, Bao-Zhu1,2,3
2018-06-01
Source PublicationJOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
ISSN0016-0032
Volume355Issue:9Pages:3873-3894
AbstractIn this paper, we consider output tracking for a class of MIMO nonlinear systems which are composed of coupled subsystems with vast mismatched uncertainties. First, all uncertainties influencing the performance of controlled outputs, which include internal unmodelled dynamics, external disturbances, and uncertain nonlinear interactions between subsystems, are refined into the total disturbance in the control channels of subsystems. The total disturbance is shown to be sufficiently reflected in the measured output of each subsystem so that it can be estimated in real time by an extended state observer (ESO) in terms of the measured outputs. Second, we decouple approximately the MIMO systems by cancelling the total disturbance based on ESO estimation so that each subsystem becomes approximately independent linear time invariant one without uncertainty and interaction with other subsystems. Finally, we design an ESO based output feedback for each subsystem separately to ensure that the closed-loop state is bounded, and the closed-loop output of each subsystem tracks practically a given reference signal. This is completely in comply with the spirit of active disturbance rejection control (ADRC). Some numerical simulations are presented to demonstrate the effectiveness of the proposed output feedback control scheme. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
DOI10.1016/j.jfranklin.2018.03.005
Language英语
Funding ProjectNatural Science Foundation of China[11501106] ; Natural Science Foundation of China[11501108] ; Key University Project of Guangdong Province[2014KZDXM063] ; Natural Science Foundation of Guangdong Province of China[2016A030313835]
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS IDWOS:000432441000003
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/30320
Collection系统科学研究所
Affiliation1.Foshan Univ, Sch Math & Big Data, Foshan 528000, Guangdong, Peoples R China
2.Acad Sinica, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
3.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
Recommended Citation
GB/T 7714
Wu, Ze-Hao,Guo, Bao-Zhu. Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach[J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,2018,355(9):3873-3894.
APA Wu, Ze-Hao,&Guo, Bao-Zhu.(2018).Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach.JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,355(9),3873-3894.
MLA Wu, Ze-Hao,et al."Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach".JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 355.9(2018):3873-3894.
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