외란 관측기를 이용한 비선형 시스템의 강인 적응 제어
- Title
- 외란 관측기를 이용한 비선형 시스템의 강인 적응 제어
- Other Titles
- Robust Adaptive Control for Nonlinear Systems Using Nonlinear Disturbance Observer
- Author
- 양해원
- Keywords
- Robust adaptive control; backstepping; fuzzy neural networks; nonlinear disturbance observer
- Issue Date
- 2006-10
- Publisher
- 대한전기학회
- Citation
- CICS";06 정보 및 제어 학술대회 논문집, Page. 327 - 329
- Abstract
- A controller is proposed for the robust adaptive backstepping control of a class of uncertain nonlinear systems using nonlinear disturbance observer (NDO). The NDO is applied to estimate the time-varying lumped disturbance in each step, but a disturbance observer error does not converge to zero since the derivative of Jumped disturbance is not zero. Then the fuzzy neural network (FNN) is presented to estimate the disturbance observer error such that the outputs of the system are proved to converge to a small neighborhood of the desired trajectory. The proposed control scheme guarantees that all the signals in the closed-loop are semiglobally uniformly ultimately bounded on the basis of the Lyapunov theorem. Simulation results are presented to illustrate the effectiveness and the applicability of the approaches proposed.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01346124&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/108591
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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