Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems
Joint Authors
Zhang, Yanjun
Wang, Lu
Su, Jianbo
Zhang, Jun
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-21
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112097