195 0

Robust output feedback control for unknown non-linear systems with external disturbance

Title
Robust output feedback control for unknown non-linear systems with external disturbance
Author
정정주
Keywords
robust control; feedback; control nonlinearities; nonlinear control systems; control system synthesis; error statistics; observers; measurement errors; time-frequency analysis; input-output stability; robust output feedback control; unknown nonlinear system; external disturbance; global uniform ultimate boundedness; output tracking error; plant nonlinearities; robust high order augmented observer; lumped augmented state variable estimation; RHOAOB; backstepping controller design; disturbance estimation error; RHOAOB-based controller; measurement noise; time-domain analysis; frequency-domain analysis; input-to-state stability
Issue Date
2016-01
Publisher
INST ENGINEERING TECHNOLOGY-IET
Citation
IET CONTROL THEORY AND APPLICATIONS, v. 10, NO 2, Page. 173-182
Abstract
The authors propose a robust output feedback control for unknown non-linear systems with external disturbance. The main contribution of this study is that the proposed method guarantees the global uniform ultimate boundedness of the output tracking error using only output feedback for unknown non-linear systems with external disturbance. The key idea of the proposed method is that the plant non-linearities and external disturbance, and their derivatives are lumped into augmented state variables. The robust high order augmented observer (RHOAOB) is developed to estimate the lumped augmented state variables and full state. The benefit to using the RHOAOB is that the estimation error can be reduced without increasing the bandwidth of the RHOAOB. The backstepping controller is designed to guarantee the global uniform ultimate boundedness of the output tracking error occurred by the disturbance estimation error. To the best of the authors' knowledge, it might be the first attempt of the analysis of the estimation and output tracking performance of the RHOAOB-based controller with the measurement noise in both time and frequency domains. The analysis shows that very small estimation error is not necessarily required to obtain the precise output tracking using an input-to-state stability property. This merit results in avoiding the amplification of the measurement noise.
URI
https://www.crossref.org/iPage?doi=10.1049%2Fiet-cta.2014.1299http://hdl.handle.net/20.500.11754/31429
ISSN
1751-8644; 1751-8652
DOI
10.1049/iet-cta.2014.1299
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE