MIMO非线性非最小相位系统的鲁棒跟踪控制

Robust Tracking Control for MIMO Nonlinear Non-minimum Phase Systems

针对仿射多输入多输出非线性非最小相位系统,提出了一种新的鲁棒跟踪控制方案。用反馈线性化解耦系统输入输出关系,通过高增益状态反馈镇定系统外部动态,通过模型预测控制镇定系统内部动态,所设计的控制器能保证跟踪控制闭环系统的指数稳定性,且对系统参数扰动具有鲁棒性。仿真结果表明了所提出方法的有效性和优越性。

A novel robust tracking control scheme is presented for affine multi-input multi-output （MIMO） nonlinear non-minimum phase systems. The inputs-outputs of tracking control systems are decoupled by feedback linearization and external dynamics are stabilized by high-gain state feedback. The model predictive control is used to stabilize internal dynamics. The proposed controller can guarantee that the tracking control closed-loop systems are exponentially stable and the robust for parameter perturbations. Simulation results demonstrate the effectiveness and the superiority of the proposed method.