DOI 10.17586/0021-3454-2019-62-9-782-790
UDC 681.511.26; 517.935
ROBUST OUTPUT CONTROL FOR NONLINEAR MULTI-CHANNEL SYSTEMS
ITMO University, Saint Petersburg, 197101, Russian Federation; student
S. A. Vrazhevsky
Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; engineer
I. B. Furtat
ITMO University, Saint Petersburg, 197101, Russian Federation; Institute of Problems of Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Full Professor; Head of Department, Chief Researcher
A. S. Kremlev
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate professor
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Abstract. The problem of robust output control for multiple-input multiple-output linear system under unknown mismatched bounded disturbances and parametric uncertainties is considered. The proposed control algorithm is based on a combination of two techniques: the backstepping method and the auxiliary loop method. An iterative procedure is described for synthesis of a decentralized control system with a specialized dynamical subsystem (auxiliary loop) included on each step to provide estimation and compensation of unknown inconsistent perturbations without the use of a strong feedback. Results of practical approbation of the developed algorithm using a real laboratory platform “Twin Rotor MIMO System” are presented.
Keywords: backstepping, auxiliary loop method, output control, multiple-input multiple-output systems, robust control, disturbance observer, mismatched disturbances
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