Robust decoupling control of BTT vehicle based on PSO

被引：10

作者：

Deng, Zhi-xiang ^{[1
]}

Wang, Yong-ji ^{[1
]}

Gu, Fan ^{[1
]}

Li, Chuan-feng ^{[2
]}

机构：

[1] Huazhong Univ Sci & Technol, Dept Control Sci & Engn, Wuhan 430074, Peoples R China

[2] Luoyang Inst Sci & Technol, Dept Comp & Informat Engn, Luoyang 471003, Peoples R China

来源：

INTERNATIONAL JOURNAL OF BIO-INSPIRED COMPUTATION | 2010年 / 2卷 / 01期

关键词：

decoupling control; particle swarm optimisation; PSO; MIMO; nonlinear system; quantitative feedback theory; QFT; SYSTEMS; DESIGN;

D O I：

10.1504/IJBIC.2010.030043

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A robust decoupling control method for BTT vehicle based on particle swarm optimisation (PSO) is proposed. According to the vehicle's characteristics such as nonlinearity, strong coupling and MIMO, firstly, the reason of the coupling between channels is analysed from the construct of BTT vehicle's mathematical model. Next, Gershgorin circle is adopted to analyse the diagonal dominance of this system. Furthermore, a robust decoupling matrix of the linearised models is obtained by using PSO, which makes the system fulfilled the diagonal dominance. Finally, quantitative feedback theory (QFT) is used to design the controller and the final results of the simulation show that this robust decoupling controller is effective and practical for engineering application.

引用

页码：42 / 50

页数：9

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