一类非线性MIMO系统的自解耦控制

Self-decoupling control for a class of nonlinear MIMO systems

摘要:

为解决传统解耦算法在非线性m输入 m输出(MIMO)系统中参数整定工作量非常大、整体控制性能不佳的问题,提出非线性MIMO系统的自解耦(self-decoupling control,SDC)法. SDC法利用统一的线性扩张状态观测器(LESO)对系统中的耦合部分、非线性部分及扰动部分进行估计并补偿,通过设计合适的控制律实现系统各环节的自解耦,且将系统待整定的参数减少为一个,并应用Lyapunov方法证明了SDC法的稳定性. 两个算例的仿真结果表明:SDC法不仅减少了MIMO系统的待整定参数,而且获得了比传统自抗扰解耦法更好的控制效果.

Abstract:

It is laborious and difficult to tune control gains in m-input m-output (MIMO) nonlinear systems using traditional decoupling algorithms, and the overall control performance is not good, so a self-decoupling control (SDC) method was proposed. The method utilized a linear extended state observer (LESO) to estimate and compensate the coupled part, nonlinear part, and disturbance part of the system, and an appropriate control law was designed for self-decoupling the MIMO system. The control gains to be tuned were converted into a parameter, and the convergence of the SDC method was verified by the Lyapunov method. Simulation results of two examples show that the proposed method not only greatly reduced the parameters of the MIMO system to be tuned, but also achieved better control effects than the common active disturbance rejection decoupling control method.