Title: Under-actuated decoupling controller design and analysis based on U model

Authors: Rui Wang; Yu Wang; Hui Sun

Addresses: College of Information Engineering and Automation, Civil Aviation University of China, Tianjin, 300300, China ' College of Information Engineering and Automation, Civil Aviation University of China, Tianjin, 300300, China ' College of Information Engineering and Automation, Civil Aviation University of China, Tianjin, 300300, China

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.

Keywords: under-actuated systems; U model; decoupling; controller design; pole placement.

DOI: 10.1504/IJMIC.2020.114189

International Journal of Modelling, Identification and Control, 2020 Vol.35 No.3, pp.167 - 176

Received: 12 Dec 2019
Accepted: 17 Apr 2020
Published online: 13 Apr 2021 *

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