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Model-free robust decoupling control of nonlinear nonaffine dynamic systems

Zhu, Quanmin; Li, Ruobing; Zhang, Jianhua

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Quan Zhu
Professor in Control Systems

Ruobing Li

Jianhua Zhang


This study presents a model-free robust input-output decoupling control with Nonlinear-Dynamic-Coupling Inversion/Inverter (NDCI) in a U-control framework. Regarding the decoupling, an input/output (I/O) coupling matrix function is proposed to derive two decouplers (U-decoupler/functional inversion and D-decoupler/static matrix inversion). A general existing theorem is proved for model-free sliding mode control (MFSMC) to lay the foundation for the NDCI, which takes the Lyapunov differential inequality for its derivative rather than the semi-define Lyapunov derivative. Accordingly, a multi-input and multi-output (MIMO) model-free decoupling U-control (MFDUC) platform is established to integrate the functionalities into a double closed-loop system framework. To validate the functionalities and configurations, this study presents transparent and comparative simulated bench tests, which also could be treated as user guidance for further study and ad hoc applications.

Journal Article Type Article
Acceptance Date Jul 31, 2023
Online Publication Date Aug 15, 2023
Publication Date 2023
Deposit Date Oct 6, 2023
Publicly Available Date Oct 10, 2023
Journal International Journal of Systems Science
Print ISSN 0020-7721
Electronic ISSN 1464-5319
Publisher Taylor & Francis
Peer Reviewed Peer Reviewed
Volume 54
Issue 13
Pages 2590-2607
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