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 MODIFIED BACKSTEPPING ALGORITHM FOR CONTROL OF NONLINEAR SYSTEMS WITH CROSS-COUPLINGS

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The paper deals with an output control approach for structural uncertain MIMO systems under parametrical uncertainties, cross- reactions and external disturbances. The proposed technique ensures high quality of transients and high robustness in the steady state toward the disturbances without using high-gain components in the controller. A model transformation with one linear filter for control signal is used to obtain a structural determined form of the plant (“straight-feedback form”). The dynamical order of the filer is equal to the relative degree of MIMO plant. The procedure of relative dynamic degree estimation for nonlinear MIMO plant with cross-couplings is considered. The control algorithm combines an auxiliary loop method and backstepping method. The first one is a robust approach to unknown bounded disturbances evaluation and compensation. Backstepping is a well-known iterative procedure of control law synthesis by consecutive analysis of the plant state equations. The considered combination allows estimating undesired dynamics in each state equation and compensates it by creation of virtual control laws with equal magnitude toward disturbances and reverse sign. Experimental verification of the considered control algorithm is given with the use of a laboratory platform called “Twin Rotor MIMO System”. The platform can be controlled in two angle positions and represents the simplified helicopter dynamics.

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