Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

المؤلفون المشاركون

Zhang, Yanjun
Wang, Lu
Su, Jianbo
Zhang, Jun

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-13، 13ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2016-07-21

دولة النشر

مصر

عدد الصفحات

13

التخصصات الرئيسية

هندسة مدنية

الملخص EN

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.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Zhang, Yanjun& Wang, Lu& Zhang, Jun& Su, Jianbo. 2016. Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112097

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Zhang, Yanjun…[et al.]. Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems. Mathematical Problems in Engineering No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1112097

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Zhang, Yanjun& Wang, Lu& Zhang, Jun& Su, Jianbo. Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112097

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1112097