ESO Compensation Based Backstepping Control for MIMO System

摘要：

For a class of nonlinear MIMO system, a novel decoupling control method was proposed. Firstly, equivalent input of each subsystem was designed using backstepping method. Then, the total uncertainties including coupling effect, external disturbance and parameter time-varying of each subsystem was estimated via an ESO, and the estimated value was introduced into the backstepping controller to compensate. At last, decoupling and control were achieved. The convergence of the new method was proved via Lyapunov stability theory. Simulation result showed the method can achieved fast response, good decoupling effect and good robustness.

关键词： Nonlinear MIMO Backstepping Control ESO Dynamic Decoupling

作者: LI Zhuang-ju WANG Jian-an LIU He-ping

作者单位: School of Electric and Information Engineering, Beijing University of Civil Engineering and Architec School of information engineering, University of science and technology Beijing, Beijing 100083, Chi

会议类型: 国际会议

会议名称: 2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

会议地点: 长沙

会议语种:英文

页码: 1390-1393

在线出版日期: 2010-05-11（万方平台首次上网日期，不代表论文的发表时间）