CADRC for a Class of Underactuated MIMO Systems

XIAO Yougang; ZHU Chengzhen; LU Hao; HAN Kun

doi:10.21656/1000-0887.390356

Volume 41 Issue 11

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XIAO Yougang, ZHU Chengzhen, LU Hao, HAN Kun. CADRC for a Class of Underactuated MIMO Systems[J]. Applied Mathematics and Mechanics, 2020, 41(11): 1197-1209. doi: 10.21656/1000-0887.390356

Citation:

XIAO Yougang, ZHU Chengzhen, LU Hao, HAN Kun. CADRC for a Class of Underactuated MIMO Systems[J]. Applied Mathematics and Mechanics, 2020, 41(11): 1197-1209. doi: 10.21656/1000-0887.390356

Citation:

XIAO Yougang, ZHU Chengzhen, LU Hao, HAN Kun. CADRC for a Class of Underactuated MIMO Systems[J]. Applied Mathematics and Mechanics, 2020, 41(11): 1197-1209. doi: 10.21656/1000-0887.390356

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CADRC for a Class of Underactuated MIMO Systems

doi: 10.21656/1000-0887.390356

¹School of Traffic and Transportation Engineering, Central South University, Changsha 410075, P.R.China;²Joint International Research Laboratory of Key Technology for Rail Traffic Safety, Central South University, Changsha 410075, P.R.China

Received Date: 2018-12-14
Rev Recd Date: 2020-03-16
Publish Date: 2020-11-01

Abstract

Abstract

The control of widely used underactuated multi-input multi-output (UMIMO) systems is still an open challenge. The underactuated system was composed of direct drive parts and indirect drive parts. For the direct drive parts, the virtual feedback control laws were designed according to their current states and target states; for the indirect drive parts, the inner uncertainties and external disturbances were estimated through the designed linear extended state observer (ESO), and the virtual feedback control laws were designed to compensate the lumped disturbances in real time. All the virtual control laws were integrated into the comprehensive control law to realize the centralized active disturbance rejection control (CADRC) of the underactuated system, and the stability of the algorithm was strictly proved with the Lyapunov method. Test results indicated that, the whole control system is compact, robust and actively disturbance-rejected, and the control gains are easy to be tuned.
- underactuated MIMO system,
- direct drive part,
- indirect drive part,
- centralized active disturbance rejection control

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References(20)

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