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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)
作者部门机器人学研究室
关键词Nonlinear System Output Feedback Observer Design Sensor Noise Actuator Degradation
发表期刊ISA Transactions
ISSN0019-0578
2016
卷号65页码:44–50
收录类别SCI ; EI
EI收录号20164603017344
WOS记录号WOS:000389730800006
产权排序1
资助机构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
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Multidisciplinary ; Instruments & Instrumentation
关键词[WOS]JUMP STOCHASTIC-SYSTEMS ; FAULT-TOLERANT CONTROL ; OBSERVER DESIGN ; SATURATION
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19417
专题机器人学研究室
通讯作者Ai, Weiqing
作者单位1.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
推荐引用方式
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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