Under-actuated decoupling controller design and analysis based on U model
by Rui Wang; Yu Wang; Hui Sun
International Journal of Modelling, Identification and Control (IJMIC), Vol. 35, No. 3, 2020

Abstract: This paper proposes a controller design algorithm for the combination of under-actuated system control and U model control. First, the decoupling coordinate transformation of the under-actuated system greatly helps reduce the complexity of the system. Second, inspired by the principles of U model, the control law of under-actuated nonlinear system is established by using linear pole placement method and satisfies the desired performance indexes. Furthermore, the method is able to be widely applied to different under-actuated nonlinear systems as well. Finally, MATLAB simulation verification make the feasibility of the algorithm come true.

Online publication date: Tue, 13-Apr-2021

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