Model-free robust decoupling control of nonlinear nonaffine dynamic systems
Quanmin Zhu, Ruobing Li, Jianhua Zhang
Abstract
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.