Title: Almost disturbance decoupling control of nonlinear MIMO uncertain system and application to half-car active suspension system

Authors: T.L. Chien, C.C. Chen, H.C. Chiu, H.W. Cheng, Ying-Chen Chen

Addresses: Department of Electronic Engineering, Wufeng Institute of Technology, 117, Sec., Chian-Kuo Road, Ming-Hsiung, Chia-Yi 621, Taiwan 640, ROC. ' Department of Electrical Engineering, National Chiayi University, 300, Syuefu Road, 60004 Chiayi City, Taiwan. ' Department of Electrical Engineering, National Formorsa University, 64, Wun-Hwa Road, Huwei, Yunlin, Taiwan 632, ROC. ' Department of Electrical Engineering, National Formorsa University, 64, Wun-Hwa Road, Huwei, Yunlin, Taiwan 632, ROC. ' Department of Materials Science and Engineering, National Chiao-Tung University, 1001, Ta Hsueh Road, Hsinchu, Taiwan 300, ROC

Abstract: This paper studies the tracking and almost disturbance decoupling problem of nonlinear multi-input multi-output uncertain systems based on the feedback linearisation approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by the proposed approach. In order to demonstrate the practical applicability, the paper has investigated a famous half-car active suspension system.

Keywords: multi-input multi-output; MIMO uncertain systems; almost disturbance decoupling; half-car active suspension system; feedback linearisation; composite Lyapunov approach; vehicle design; vehicle suspensions; tracking errors.

DOI: 10.1504/IJVD.2008.020305

International Journal of Vehicle Design, 2008 Vol.46 No.4, pp.367 - 392

Available online: 15 Sep 2008 *

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