Controller design for a class of nonlinear MIMO coupled system using multiple models and second level adaptation

Pandey, Vinay Kumar; Kar, Indrani; Mahanta, Chitralekha

doi:10.1016/j.isatra.2017.05.005

Cited by 35 publications

(115 citation statements)

References 24 publications

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“…In Reference [34], equivalent control-based SMC for MIMO uncertain linear Markovian jump systems is designed, which guarantees the system's stochastically asymptotical stability. In Reference [35], adaptive control using multiple models with second level adaptation is designed for MIMO coupled systems. In Reference [36], a robust output regulation is proposed for invertible nonlinear MIMO systems based on the nonlinear internal model.…”

Section: Related Workmentioning

confidence: 99%

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Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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A decentralized control scheme is developed in this paper based on an improved active disturbance rejection control (IADRC) for output tracking of square Multi-Input-Multi-Output (MIMO) nonlinear systems and compared with the decoupled control scheme. These nonlinear MIMO systems were subjected to exogenous disturbances and composed of high couplings between subsystems, input couplings, and uncertain elements. In the decentralized control scheme, it was assumed that the input couplings and subsystem couplings were both parts of the generalized disturbance. Moreover, the generalized disturbance included other components, such as exogenous disturbances and system uncertainties, and it was estimated within the context of Active Disturbance rejection Control (ADRC) via a novel nonlinear higher order extended state observer (NHOESO) from the measured output and canceled from the input channel in a real-time fashion. Then, based on the designed NHOESO, a separate feedback control law was developed for each subsystem to achieve accurate output tracking for given reference input. With the proposed decentralized control scheme, the square MIMO nonlinear system was converted into approximately separate linear time invariant Single-Input-Single-Output (SISO) subsystems. Numerical simulations in a MATLAB environment showed the effectiveness of the proposed technique, where it was applied on a hypothetical MIMO nonlinear system with strong couplings and vast uncertainties. The proposed decentralized control scheme reduced the total control signal energy by 20.8% as compared to the decoupled control scheme using Conventional ADRC (CADRC), while the reduction was 27.18% using the IADRC.

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Section: Related Workmentioning

confidence: 99%

“…The dynamics of the tracking error given in Equation (35), together with the control law v i designed in Equation 26, are written as:…”

Section: E Iy Imentioning

confidence: 99%

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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“…Condition is useful for dealing with locally Lipschitz systems rather than the simple form of globally Lipschitz systems. Condition is used to guarantee a local region of stability.Remark Many controller design schemes for nonlinear systems have been proposed in the literature . However, most of the controller design techniques are based on the assumption that manipulating the control signal operates in the linear region.…”

Section: Awc Synthesismentioning

confidence: 99%

“…Many controller design schemes for nonlinear systems have been proposed in the literature. [36][37][38] However, most of the controller design techniques are based on the assumption that manipulating the control signal operates in the linear region. These controllers may provide significant closed-loop stability and performance in the absence of input saturation.…”

Section: Proof a Lyapunov Functional Candidate Is Chosen Specified Bymentioning

confidence: 99%

Simultaneous design of AWC and nonlinear controller for uncertain nonlinear systems under input saturation

Hussain

Rehan

Ahn

et al. 2019

Intl J Robust & Nonlinear

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Summary This article addresses a novel technique for the simultaneous design of a robust nonlinear controller and static anti‐windup compensator (AWC) for uncertain nonlinear systems under actuator saturation and exogenous L2 bounded input. The system is presumed to have locally Lipschitz nonlinearities, time‐varying uncertainties (appearing both in the linear as well as nonlinear dynamics and both in the state in addition to the output equations), and external norm‐bounded inputs both in the state and the output equations. Several bilinear matrix inequality–based conditions are derived to simultaneously design the robust nonlinear controller and AWC gains for uncertain nonlinear systems by employing the Lyapunov functional, reformulated Lipschitz property, uncertainty bounds, linear parameter‐varying approach, modified local and global sector conditions, iterative linear matrix inequality algorithm, convex optimization procedure, and L2 gain minimization. The proposed multiobjective AWC‐based dynamic robust nonlinear controller guarantees the mitigation of saturation effects, robustness against time‐varying parametric norm‐bounded uncertainties, the asymptotic stability of the closed‐loop nonlinear system under zero external disturbances, and the attenuation of disturbance effects under nonzero external disturbances. The effectiveness of the proposed AWC‐based dynamic robust nonlinear controller synthesis scheme is illustrated by simulation examples.

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“…Various FTC strategies were reported in specialised literature: linear matrix inequality (Andrade et al, 2017), the pseudo-inverse (Tchon & Janiak, 2009), multiple model (Pandey, Kar & Mahanta, 2017) and adaptive control methods (Yu et al, 2019), robust controls (Zhi & al., 2018), the Algebraic Riccati Equation (ARE), the Hamilton-Jacobi Equation (HJE), the sliding mode control (SMC) (Zhang et al, 2018) and intelligent controls based on artificial neural network (Yen & Ho, 2004). The "suitable" technique for FTC depends on the type of system considered and the nature/gravity of the fault.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Fault Recovery of a Quadrotor Using Progressive Accommodation

Mlayeh¹,

Ghachem²,

Nasri³

et al. 2020

STUD INFORM CONTROL

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This paper proposes a nonlinear (NL) fault-tolerant control (FTC) strategy for stabilizing the attitude of a quadrotor affected by multiple rotor failures. The recovery process relies mainly on progressive accommodation (PA) strategy. The latter uses the Newton-Raphson (NR) algorithm in order to solve the state-dependent Riccati Equation (SDRE) in a recursive way. Simulations are performed using the NL model of the quadrotor in fault-free and post-fault cases. Both PA and the direct SDRE methods are employed so that the attitude control of the quadrotor can be stabilized. The results show that the PA strategy performs better than the classical method when it comes to convergence speed and to preserving the control objectives of the nominal system.

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Controller design for a class of nonlinear MIMO coupled system using multiple models and second level adaptation

Cited by 35 publications

References 24 publications

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

Simultaneous design of AWC and nonlinear controller for uncertain nonlinear systems under input saturation

Nonlinear Fault Recovery of a Quadrotor Using Progressive Accommodation

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