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题名: Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise
作者: Ai, Weiqing; Lu ZL(卢振利); Li B(李斌); Fei SM(费树岷)
作者部门: 机器人学研究室
关键词: Nonlinear system ; Output feedback ; Observer design ; Sensor noise ; Actuator degradation
刊名: ISA Transactions
ISSN号: 0019-0578
出版日期: 2016
卷号: 65, 页码:44–50
收录类别: EI
产权排序: 1
项目资助者: National Science Foundation of China under Grants(61473283, 61473082, 61273119) ; State Key Laboratory of Robotics (Grant No.2014-O08) ; Changshu Institute of Technology under Grant (KYZ2015046Z).
摘要: This paper investigates the output feedback control problem of a class of nonlinear systems with sensor noise and actuator degradation. Firstly, by using the descriptor observer approach, the origin system is transformed into a descriptor system. On the basis of the descriptor system, a novel Proportional Derivative (PD) observer is developed to asymptotically estimate sensor noise and system state simultaneously. Then, by designing an adaptive law to estimate the effectiveness of actuator, an adaptive observer-based controller is constructed to ensure that system state can be regulated to the origin asymptotically. Finally, the design scheme is applied to address a flexible joint robot link problem.
语种: 英语
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19417
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Ai, Weiqing,Lu ZL,Li B,et al. Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise[J]. ISA Transactions,2016,65:44–50.
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文件名: Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise.pdf
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