Inversion-based robust feedforward–feedback two-degree-of-freedom control approach for multi-input multi-output systems with uncertainty

Author(s): C. Peng ; H. Xu ; Q. Zou ; J. Zhang
DOI: 10.1049/iet-cta.2011.0244

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Author(s): C. Peng ¹ ; H. Xu ¹ ; Q. Zou ² ; J. Zhang ¹
- Affiliations: 1: School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, People’s Republic of China
  2: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, Piscataway, USA
Source: Volume 6, Issue 14, 20 September 2012, p. 2279 – 2291
DOI: 10.1049/iet-cta.2011.0244 , Print ISSN 1751-8644, Online ISSN 1751-8652

In this study, an inversion-based robust feedforward–feedback two-degree-of-freedom (2DOF) control approach is proposed to improve the tracking performance and robustness for multi-input multi-output (MIMO) systems with uncertainty. The proposed approach enhances trajectory tracking precision by robust-inversion feedforward control and combats the adverse effects caused by system uncertainty, coupling and disturbance by H_∞ mixed sensitivity robust MIMO feedback control. The main contributions of this paper are as follows: (i) a combination of robust diagonal dominance-based static pre-compensation and inversion-based robust feedforword–feedback 2DOF control, (ii) extending the single-input single-output (SISO) robust-inversion-based feedforward control to MIMO system by introducing the optimal coefficients which not only consider the uncertainties of diagonal transfer functions, but also take the non-diagonal elements in MIMO transfer function matrix into account, (iii) a systematic integration of H_∞ mixed sensitivity robust feedback control and inversion feedforward control. A numerical example and simulation results illustrate a better performance obtained by the proposed control approach compared with H_∞ mixed sensitivity robust feedback control and 2DOF control approach combined with the regular SISO robust-inversion-based feedforward control and robust feedback control.

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Inversion-based robust feedforward–feedback two-degree-of-freedom control approach for multi-input multi-output systems with uncertainty

Inversion-based robust feedforward–feedback two-degree-of-freedom control approach for multi-input multi-output systems with uncertainty

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