Additive-State-Decomposition Dynamic Inversion Stabilized Control for a Class of Uncertain MIMO Systems
This work provides a new control framework for stabilizing uncertain MIMO systems, which is relevant for control engineers dealing with nonparametric uncertainties in both state and input channels.
This paper proposes an additive-state-decomposition dynamic inversion stabilized control for a class of uncertain MIMO systems with nonparametric time-varying uncertainties. The method transforms the system into a minimum-phase uncertainty-free system and uses dynamic inversion to reject lumped disturbances, with stability guaranteed and demonstrated via simulations and real quadrotor experiments.
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties with respect to both state and input. By additive state decomposition and a new definition of output, the considered uncertain system is transformed into a minimum-phase uncertainty-free system with relative degree one, in which all uncertainties are lumped into a new disturbance at the output. Subsequently, dynamic inversion control is applied to reject the lumped disturbance. Performance analysis of the resulting closed-loop dynamics shows that the stability can be ensured. Finally, to demonstrate its effectiveness, the proposed control is applied to two existing problems by numerical simulation. Furthermore, in order to show its practicability, the proposed control is also performed on a real quadrotor to stabilize its attitude when its inertia moment matrix is subject to a large uncertainty.