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A New Adaptive Partially Decentralized PID Controller for Non-square Discrete-time Linear Parameter Varying Systems

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  • Control Theory and Applications
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Abstract

In this paper, a novel partially decentralized adaptive control strategy is presented to deal with a class of Multi Inputs Multi Outputs (MIMO) non-square, Linear Parameter Varying (LPV) systems. The key idea is the design of Proportional Integral Derivative (PID) regulator based on online pairing and tuning of its parameters using the Dynamic Relative Gain Array (DRGA) matrix. The proposed adaptive partially decoupled control scheme operates in a straightforward and systematic way. The convergence of the proposed controller is guaranteed by theoretical analysis, numerical simulations and experimental tests carried out on a non-holonomic two Wheeled Mobile Robot (WMR). Studies of the proposed regulator robustness against additive disturbance and stability over the whole parameter range are given to illustrate the effectiveness of the proposed PID scheme.

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Authors and Affiliations

  1. Tunis El Manar University, National School of Engineering of Tunis, LR11ES20, Analysis, Conception and Control of Systems Laboratory, Tunis, Tunisia

    Ibtissem Malouche & Faouzi Bouani

Authors
  1. Ibtissem Malouche
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  2. Faouzi Bouani
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Corresponding author

Correspondence to Ibtissem Malouche.

Additional information

Recommended by Associate Editor Sukho Park under the direction of Editor PooGyeon Park. This work was supported by Technology Research Program of the Ministry of Higher Education and Scientific Research of Tunisia.

Ibtissem Malouche received her engineering degree in Electrical Engineering and the Master degree in the Automatic and Signal Processing from the National School of Engineering of Tunis (ENIT), in 2003 and 2004 respectively. Since 2003, she is working in STMicroelectronics in the microcontroller division. She is currently preparing her Ph.D. Her main research interests include the computational intelligence technique and implementation of advanced control algorithms.

Faouzi Bouani is a professor at the National School of Engineering of Tunis (ENIT). He received his B.Sc. and M.Sc. degrees, in 1990 and 1992, respectively, from the Ecole Normale Superieure de l’Enseignement Technique of Tunis. He received his Ph.D. degree in 1997 and the Habilitation universitaire in 2007, in Electrical Engineering both from (ENIT). His research interests include nonlinear predictive control, robust predictive control and the computational intelligence technique.

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Malouche, I., Bouani, F. A New Adaptive Partially Decentralized PID Controller for Non-square Discrete-time Linear Parameter Varying Systems. Int. J. Control Autom. Syst. 16, 1670–1680 (2018). https://doi.org/10.1007/s12555-016-0020-z

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  • DOI: https://doi.org/10.1007/s12555-016-0020-z

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