Intelligent Controller Design for MIMO Systems using Model-Free Control and LMI Approaches Applied on a Twin Rotor MIMO System
Intelligent Controller Design for MIMO Systems using Model-Free Control and LMI Approaches Applied on a Twin Rotor MIMO System
复制标题
使用无模型控制和 LMI 方法的 MIMO 系统智能控制器设计应用于双转子 MIMO 系统
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
H. Al
中科院分区：
文献类型：
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作者：
Younes Al Younes;A. Rabhi;H. Al
针对多输入多输出系统，提出了一种重构的智能无模型控制（MFC）算法。在文献中，MFC是针对单输入单输出（SISO）系统设计的，通过将MIMO系统分解成多个SISO系统来控制MIMO系统，然后在每个SISO系统上应用MFC控制器。采用所提出的MIMO-MFC控制器可以降低实现多mfc控制器的复杂性。此外，MIMO-MFC结构中的超局部模型增益矩阵将使用线性矩阵不等式（LMI）来计算，以确保系统的稳定性，而在经典的MFC技术中，控制器增益是通过试错的方法经验确定的。在各种反馈控制器无法处理的情况下，MIMO-MFC可以补偿未建模的系统动力学和不同的不确定性。PID控制器和MIMO- mfc控制器之间的实时比较将在双转子MIMO系统（TRMS）上实现和测试。在实时测试期间，将对所提出算法的鲁棒性进行针对执行器故障和诱导干扰的测试，以验证有关控制性能增强的声明。
This paper presents a restructured intelligent Model-Free Control (MFC) algorithm that is designed for Multi-Input-Multi-Output (MIMO) system. In the literature, MFC is designed for Single-Input-Single-Output (SISO) system, where MIMO system is controlled by decomposing it into multi-SISO systems, and then MFC controller is applied on each one of them. The complexity of implementing multi-MFC controllers can be reduced by using the proposed MIMO-MFC controller. Moreover, the ultra-local model gain matrix in the MIMO-MFC structure will be computed using Linear Matrix Inequality (LMI) to ensure the system stability, while in the classical MFC technique, the controller gain is found empirically by the means of trial and error. The unmodeled system dynamics and the different uncertainties can be compensated by the MIMO-MFC where various feedback controllers are failing to cope with. A real-time comparison between the PID controller and the proposed MIMO-MFC controller will be implemented and tested on a Twin Rotor MIMO System (TRMS).The robustness of the proposed algorithm will be tested against an actuator-fault and induced-disturbance during the real-time tests to validate the claims about the control performance enhancements.