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Decentralized CRONE control of nonsquare multivariable systems in path-tracking design

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Abstract

In this paper, motion control and robust path tracking were extended to nonsquare MIMO (Multi-Input Multi-Output) systems having more outputs than inputs. A path-tracking design based on fractional prefilter approach has been developed and extended to control nonsquare MIMO systems. The nonsquare relative gain array (NRG) is used to assess the performance of nonsquare control systems based on steady-state information. The CRONE control approach developed for multivariable plants based on third-generation SISO CRONE methodology is combined with MIMO-QFT (Quantitative Feedback Theory) robust design methodology, taking into account the plant uncertainties. After the determination of CRONE controller, the parameter of prefilter has been optimized considering physical constraints of actuators and the tracking performance specifications. The proposed design is applied to an example.

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Authors and Affiliations

  1. Control & Energy Management Laboratory (CEM), Sfax Engineering School, University of Sfax, BP W, 3038, Sfax, Tunisia

    Najah Yousfi & Nabil Derbel

  2. UMR 5218 CNRS, Bordeaux Institute of Technology, University of Bordeaux, 351 cours de la Liberation, 33405, Talence cedex, France

    Pierre Melchior, Patrick Lanusse & Alain Oustaloup

Authors
  1. Najah Yousfi
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  2. Pierre Melchior
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  3. Patrick Lanusse
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  4. Nabil Derbel
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  5. Alain Oustaloup
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Correspondence to Najah Yousfi.

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Yousfi, N., Melchior, P., Lanusse, P. et al. Decentralized CRONE control of nonsquare multivariable systems in path-tracking design. Nonlinear Dyn 76, 447–457 (2014). https://doi.org/10.1007/s11071-013-1138-7

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  • DOI: https://doi.org/10.1007/s11071-013-1138-7

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