robust observer based disturbance rejection control for euler-lagrange systems

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ID: 246223
2016
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Abstract
Robust disturbance rejection control methodology is proposed for Euler-Lagrange systems, and parameters optimization strategy for the observer is explored. First, the observer based disturbance rejection methodology is analyzed, based on which the disturbance rejection paradigm is proposed. Thus, a disturbance observer (DOB) with partial feedback linearization and a low-pass filter is proposed for nonlinear dynamic model under relaxed restrictions of the generalized disturbance. Then, the outer-loop backstepping controller is designed for desired tracking performance. Considering that the parameters of DOB cannot be obtained directly based on Lyapunov stability analysis, parameter of DOB is optimized under standard H∞ control framework. By analyzing the influence of outer-loop controller on the inner-loop observer parameter, robust stability constraint is proposed to guarantee the robust stability of the closed-loop system. Experiment on attitude tracking of an aircraft is carried out to show the effectiveness of the proposed control strategy.
Reference Key
zhang2016mathematicalrobust Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Yanjun Zhang;Lu Wang;Jun Zhang;Jianbo Su
Journal journal of power sources
Year 2016
DOI
10.1155/2016/3839505
URL
http://dx.doi.org/10.1155/2016/3839505
Keywords
civil engineering (general)mathematics engineering (general)

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