针对一类非线性多入多出系统,设计了一种新的解耦控制器.首先采用反推技术设计每一个子系统的等效输入;然后用扩张状态观测器(ESO)对各个子系统的耦合、外扰和参数时变等不确定作用进行动态估计,并把估计值引入到反推控制器中进行补偿,最终实现解耦和控制.利用Lyapunov稳定性理论证明了该方法的收敛性;数例仿真表明了该方法可获得较快的响应速度及较好的解耦效果和鲁棒性. A new kind of decoupling controller is designed for a class of nonlinear MIMO systems. First, the equivalent input of each subsystem is designed by using the backstepping technique. Then, with the extended state observer (ESO) , And the uncertainties such as external disturbance and time-varying parameters are dynamically estimated, and the estimated value is introduced into the backstepping controller to compensate and finally realize decoupling and control.The convergence of this method is proved by the Lyapunov stability theory Several numerical simulations show that this method can obtain faster response speed and better decoupling effect and robustness.