Model-free robust decentralised control of multi-input-multi-output nonlinear interconnected dynamic systems

Zhu, Quanmin; Li, Ruobing; Zhang, Jianhua; Shi, Baiyang

Abstract

This study presents a generalised framework for model-free robust decentralised control (MFRDC) of interconnected MIMO dynamic systems, with the goal of significantly reducing complexity in model-based design. A model-free robust sliding mode control, by Lyapunov differential inequality, is presented to achieve simultaneous nonlinear, dynamic, interaction/coupling inversion/cancellation (NDII) for such MIMO systems, which treats the plant/process as a total uncertainty from input to output. The U-control platform is presented, to integrate separately independently designed NDII and an invariant controller (IC) into a complete double loop control system. The associated robust stability and other properties are analysed to provide reference for applications. Two simulated tracking control tests are presented for functionally numerical demonstration, validation of the analytical results and illustration of the transparent procedure for general expansion/applications. These are: a coupled inverted pendulum and a two-input and two-output (TITO) non-affine nonlinear dynamic plant.

• Journal Article Type: Article
• Acceptance Date: Sep 23, 2023
• Online Publication Date: Oct 26, 2023
• Publication Date: Sep 30, 2024
• Deposit Date: Jan 23, 2024
• Publicly Available Date: Nov 1, 2024
• Journal: Journal of Vibration and Control
• Print ISSN: 1077-5463
• Electronic ISSN: 1741-2986
• Publisher: SAGE Publications
• Peer Reviewed: Peer Reviewed
• Volume: 30
• Issue: 17-18
• Pages: 4080-4092
• DOI: https://doi.org/10.1177/10775463231206601
• Keywords: Mechanical Engineering, Mechanics of Materials, Aerospace Engineering, Automotive Engineering, General Materials Science
• Public URL: https://uwe-repository.worktribe.com/output/11430222