【摘 要】
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In this paper, a linear/nonlinear switching active dis-turbance rejection control (SADRC) based decoupling control approach is proposed to deal with some difficult control prob-lems in a class of multi-input multi-output (MIMO) systems such as multi-varia
【机 构】
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Department of Unmanned Aerial Vehicle Engineering, Army Engineering University of PLA, Shijiazhuang
论文部分内容阅读
In this paper, a linear/nonlinear switching active dis-turbance rejection control (SADRC) based decoupling control approach is proposed to deal with some difficult control prob-lems in a class of multi-input multi-output (MIMO) systems such as multi-variables, disturbances, and coupling, etc. Firstly, the structure and parameter tuning method of SADRC is introduced into this paper. Followed on this, virtual control variables are ad-opted into the MIMO systems, making the systems decoupled. Then the SADRC controller is designed for every subsystem. After this, a stability analyzed method via the Lyapunov function is proposed for the whole system. Finally, some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC, and results show SADRC has a potential applica-tions in engineering practice.
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