Robust inversion feedforward and H∞ mixed sensitivity feedback based 2DOF MIMO Control

摘要：

This paper proposed a MIMO 2DOF control design approach based on robust inversion feedforward and H∞ mixed sensitivity feedback control. The proposed 2DOF control approach utilizes inversion feedforward control to improve the tracking performance of system, and H∞ feedback control to reject external disturbance, compensated tracking error and improve system robustness. At first, a static pre-compesator to render the MIMO system diagonally dominant design method is presented, then the 2DOF MIMO control system is developed followed by designing the inversion feedforward controller according to the nominal model and the uncertainty of the compensated system, and designing the H∞ mixed sensitivity feedback controller according to the requirement of the robustness and tracking performance. The results of simulation experiment demonstrated the proposed control approach could improve the tracking performance of MIMO system effectively.

关键词： 2DOF control Robust inversion H∞mixed sensitivity Static pre-compensation

作者: PENG Chao ZOU Qingze ZOU Jianxiao LI Kai

作者单位: School of Automation, University of Electronic Science and Technology, Chengdu 611731 Department of Mechanical and Aerospace Engineering, the State University of New Jersey, NJ 08854, US

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4745-4749

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）