KMS Of Academy of mathematics and systems sciences, CAS
| Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach | |
Wu, Ze-Hao1; Guo, Bao-Zhu1,2,3
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| 2018-06-01 | |
| Source Publication | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
 |
| ISSN | 0016-0032 |
| Volume | 355Issue:9Pages:3873-3894 |
| Abstract | In 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. |
| DOI | 10.1016/j.jfranklin.2018.03.005 |
| Language | 英语 |
| Funding Project | Natural 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 Area | Automation & Control Systems ; Engineering ; Mathematics |
| WOS Subject | Automation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications |
| WOS ID | WOS:000432441000003 |
| Publisher | PERGAMON-ELSEVIER SCIENCE LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.amss.ac.cn/handle/2S8OKBNM/30320 |
| Collection | 系统科学研究所 |
| Corresponding Author | Guo, Bao-Zhu |
| Affiliation | 1.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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