Internal Multimodel Control for Nonlinear Overactuated Systems

Abstract

This paper deals with the synthesis of a novel internal multimodel control designed for nonlinear overactuated systems. The multimodel approach is proposed to deal with system nonlinearity. A base of linear models is considered to describe the nonlinear system in the whole operating domain and then squared by adding virtual outputs. An internal model controller, obtained by a specific inversion method, is proposed for each model of the base. Thus, the global system control parameters are deduced through fusion of the elementary controller parameters by means of two techniques: commutation or residual approach. The case of three inputs/two outputs system is studied to illustrate the ability of both techniques to satisfy a tolerance interval for position error values, overshoot, settling time specifications and robustness requirement.