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Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise
Ai, Weiqing; Lu ZL(卢振利); Li B(李斌); Fei SM(费树岷)
Department机器人学研究室
Source PublicationISA Transactions
ISSN0019-0578
2016
Volume65Pages:44–50
Indexed BySCI ; EI
EI Accession number20164603017344
WOS IDWOS:000389730800006
Contribution Rank1
Funding OrganizationNational 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).
KeywordNonlinear System Output Feedback Observer Design Sensor Noise Actuator Degradation
AbstractThis 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Instruments & Instrumentation
WOS KeywordJUMP STOCHASTIC-SYSTEMS ; FAULT-TOLERANT CONTROL ; OBSERVER DESIGN ; SATURATION
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19417
Collection机器人学研究室
Corresponding AuthorAi, Weiqing
Affiliation1.School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu, 215500, China
2.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110014, China
3.School of Automation, Southeast University, Nanjing, Jiangsu, 210096, China
Recommended Citation
GB/T 7714
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.
APA Ai, Weiqing,Lu ZL,Li B,&Fei SM.(2016).Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise.ISA Transactions,65,44–50.
MLA Ai, Weiqing,et al."Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise".ISA Transactions 65(2016):44–50.
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