Discrete-time nonlinear damping backstepping control with observers for rejection of low and high frequency disturbances
- Title
- Discrete-time nonlinear damping backstepping control with observers for rejection of low and high frequency disturbances
- Author
- 정정주
- Keywords
- Disturbance observer; Augmented observer; Discrete time control; Backstepping
- Issue Date
- 2018-05
- Publisher
- ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
- Citation
- MECHANICAL SYSTEMS AND SIGNAL PROCESSING, v. 104, page. 436-448
- Abstract
- A discrete-time backstepping control algorithm is proposed for reference tracking of systems affected by both broadband disturbances at low frequencies and narrow band disturbances at high frequencies. A discrete time DOB, which is constructed based on infinite impulse response filters is applied to compensate for narrow band disturbances at high frequencies. A discrete-time nonlinear damping backstepping controller with an augmented observer is proposed to track the desired output and to compensate for low frequency broadband disturbances along with a disturbance observer, for rejecting narrow band high frequency disturbances. This combination has the merit of simultaneously compensating both broadband disturbances at low frequencies and narrow band disturbances at high frequencies. The performance of the proposed method is validated via experiments. (C) 2017 Elsevier Ltd. All rights reserved.
- URI
- https://www.sciencedirect.com/science/article/pii/S0888327017305873?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/118740
- ISSN
- 0888-3270
- DOI
- 10.1016/j.ymssp.2017.11.006
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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