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초록
We present a discrete-time output feedback nonlinear control algorithm for reference tracking under both broad-band disturbances at low frequencies and narrow-band disturbances at high frequencies. A discrete-time nonlinear damping backstepping controller with an extended state observer is proposed to track the desired output and to compensate for low-frequency broad-band disturbances. A narrow-band disturbance observer is constructed for rejecting narrow-band high-frequency disturbances. This combination method gives us the merit that both broad-band disturbances at low frequencies and narrow-band disturbances at high frequencies can be simultaneously compensated.
키워드
Algorithms; Backstepping controller; Broadband disturbance; Disturbance observer; Extended state observer; High frequency disturbance; Low and high frequencies; Nonlinear control algorithm; Reference-tracking; Nonlinear feedback
- 제목
- Discrete-time output feedback nonlinear control for combined low-and high-frequency disturbance compensation
- 저자
- Kim, Wonhee; Chen, Xu; Chung, Chung Choo; Tomizuka, Masayoshi
- 발행일
- 2015-07
- 유형
- Conference Paper
- 저널명
- Proceedings of the American Control Conference
- 권
- 2015-July
- 페이지
- 5495 ~ 5501