一类欠驱动MIMO系统集中式自抗扰控制

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.