Information Fusion Based Decoupling Control for Multivariable Nonlinear System

摘要

A decoupling control method based on information fusion estimation for a nonlinear system is presented in the paper. For each main channel and its coupled channels of the system, according to the information fusion theorem, the estimation of the system future state is obtained by fusing the information of the desired output trajectory of the system. Furthermore, approximate optimal control rule is obtained by fusing the system future state information and the control energy soft constraint information. Then an information fusion based decoupling control (IFBDC) system is established for the nonlinear coupled multiple-input multiple-output systems. This system cannot only control every channel to track reference signals, but also control any channel to be decoupled with other channels. Finally, a robot manipulator system is given to investigate the effectiveness of the decoupling control strategy, analyze its key parameters, and analyze the computational cost. The simulation results show that the IFBDC method is characterized by adjustable decoupling degree and high control quality.