Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach

doi:10.1016/j.jfranklin.2018.03.005

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	Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach
	Wu, Ze-Hao 1; Guo, Bao-Zhu1,2,3
	2018-06-01
发表期刊	JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
ISSN	0016-0032
卷号	355 期号:9 页码:3873-3894
摘要	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
语种	英语
资助项目	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研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS记录号	WOS:000432441000003
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/30320
专题	系统科学研究所
通讯作者	Guo, Bao-Zhu
作者单位	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
推荐引用方式 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.