Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems.

Area of Science:

• Control Systems Engineering
• Industrial Automation
• Nonlinear System Dynamics

Background:

• Multi-Inputs-Multi-Outputs (MIMO) systems commonly feature input and state couplings, alongside uncertainties, posing significant control challenges in industrial settings.
• Existing control strategies often require complex decoupling mechanisms before addressing residual uncertainties.

Purpose of the Study:

• To propose a novel decentralized control scheme for uncertain nonlinear highly coupled MIMO systems.
• To enhance the performance and robustness of MIMO system control through an Improved Active Disturbance Rejection Control (IADRC) configuration.

Main Methods:

• Development of a decentralized control scheme based on an Improved Active Disturbance Rejection Control (IADRC) framework.
• Theoretical validation using state-space eigenvalue analysis.
• Numerical simulations on a general uncertain nonlinear highly coupled MIMO system.
• Comparative time-domain analysis against the Conventional Active Disturbance Rejection Control (CADRC) approach.

Main Results:

• The proposed IADRC-based decentralized control scheme effectively manages input couplings and uncertainties in MIMO systems.
• State-space eigenvalue tests confirmed the theoretical stability and effectiveness of the IADRC approach.
• Numerical simulations demonstrated superior or comparable performance to CADRC in controlling complex MIMO systems.

Conclusions:

• The IADRC offers a robust and effective solution for controlling uncertain nonlinear highly coupled MIMO systems.
• The proposed decentralized control strategy simplifies the management of complex industrial systems by addressing couplings and uncertainties directly.