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Additive-State-Decomposition Dynamic Inversion Stabilized Control for a Class of Uncertain MIMO Systems
| Content Provider | Semantic Scholar |
|---|---|
| Author | Quan, Quan Du, Guangxun Cai, Kai-Yuan |
| Copyright Year | 2014 |
| Abstract | This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-i nput multi-output (MIMO) systems subject to nonparametric time-varying uncertainties with respect to both state and input. By additive state decomposition and a new definition of output, the considered uncertain system is transformed into a minimum-phase uncertainty-free system with relative degree one, in which all uncertainties are lumped into a new disturbance at the output. Subsequently, dynamic inversion control is applied to reject the lumped disturbance. Performance analysis of the resulting closed-loop dynamics shows that the stability can be ensured. Finally, to demonstrate its ef fectiveness, the proposed control is applied to two existing problems by numerical simulation. Furthermore, in order to show its practicability, the proposed control is also performed on a real quadrotor to stabilize its attitude when its inertia moment matrix is subject to a large uncertainty. |
| File Format | PDF HTM / HTML |
| DOI | 10.1109/TMECH.2015.2497258 |
| Alternate Webpage(s) | https://arxiv.org/pdf/1211.6821v2.pdf |
| Alternate Webpage(s) | https://doi.org/10.1109/TMECH.2015.2497258 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
