Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems

Wameedh Riyadh Abdul-Adheem; Ahmed Alkhayyat; Ammar K Al Mhdawi; Nik Bessis; Ibraheem Kasim Ibraheem; Ahmed Ibraheem Abdulkareem; Amjad J Humaidi; Arif A Al-Qassar

doi:10.3390/e23111487

Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems

Entropy (Basel). 2021 Nov 10;23(11):1487. doi: 10.3390/e23111487.

Authors

Wameedh Riyadh Abdul-Adheem¹, Ahmed Alkhayyat², Ammar K Al Mhdawi³, Nik Bessis³, Ibraheem Kasim Ibraheem^{1

4}, Ahmed Ibraheem Abdulkareem⁵, Amjad J Humaidi⁵, Arif A Al-Qassar⁵

Affiliations

¹ Department of Electrical Engineering, College of Engineering, University of Baghdad, Baghdad 10001, Iraq.
² College of Technical Engineering, The Islamic University, Najaf 54001, Iraq.
³ Department of Computer Science, Edge Hill University, Ormskirk L39 4QP, UK.
⁴ Department of Computer Engineering Techniques, Al-Rasheed University College, Baghdad 10001, Iraq.
⁵ Control and Systems Engineering Department, University of Technology, Baghdad 10001, Iraq.

Abstract

Multi-Inputs-Multi-Outputs (MIMO) systems are recognized mainly in industrial applications with both input and state couplings, and uncertainties. The essential principle to deal with such difficulties is to eliminate the input couplings, then estimate the remaining issues in real-time, followed by an elimination process from the input channels. These difficulties are resolved in this research paper, where a decentralized control scheme is suggested using an Improved Active Disturbance Rejection Control (IADRC) configuration. A theoretical analysis using a state-space eigenvalue test followed by numerical simulations on a general uncertain nonlinear highly coupled MIMO system validated the effectiveness of the proposed control scheme in controlling such MIMO systems. Time-domain comparisons with the Conventional Active Disturbance Rejection Control (CADRC)-based decentralizing control scheme are also included.

Keywords: MIMO systems; active disturbance rejection control; decentralized control; extended state observer; nonlinear control; output tracking; subsystem couplings; uncertainties.