Modified error decentralized control with observer backstepping

Autor:	Abder Rezak Benaskeur, André Desbiens
Rok vydání:	2002
Předmět:	Lyapunov function Multivariable calculus Recursive form Decentralised system Control function Computer Science Applications symbols.namesake Computer Science::Systems and Control Control and Systems Engineering Control theory Backstepping Norm (mathematics) symbols Quotient Mathematics
Zdroj:	International Journal of Control. 75:923-931
ISSN:	1366-5820 0020-7179
DOI:	10.1080/00207170210149178
Popis:	In this paper, an output feedback version of the modified error method is presented, for linear coupled plants. The novelty lies in the combination of a modified control function of Lyapunov with the observer backstepping technique to obtain a totally decentralized output feedback scheme. Furthermore, the design algorithm is presented in a new recursive form that goes beyond the general expressions yielded by the backstepping. The decentralization, i.e. the elimination of the cross-terms from the obtained multivariable controller, is rendered possible by a new choice of the regulated errors in the backstepping procedure. The internal stability and the tracking performances of the closed-loop system are still preserved, as long as the observer convergence is guaranteed and the H X -norm of the plant interaction quotient is less than one. The developed scheme is successfully applied to the control of a rougher flotation phenomenological simulator.
Databáze:	OpenAIRE
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