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Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems
He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Source Publication自动化学报
ISSN1874-1029
2008
Volume34Issue:5Pages:558-564
Indexed ByEI ; CSCD
EI Accession number20082411313342
CSCD IDCSCD:3281769
Contribution Rank1
KeywordDisturbance Attenuation Acceleration Feedback Control Underactuated Systems Backstepping Nonlinear H∞ Control
AbstractIn this paper, a generalized acceleration feedback control (AFC) design method, named AFC enhanced H∞ controller, is proposed for both fullactuated and underactuated nonlinear autonomous vehicle systems. The AFC is designed as a robust enhancement to the normal control based on known dynamics. First, in order to reject the uncertainties and external disturbances, a linear prefilter is used in the new AFC design method to replace the high gain in the normal AFC. Then, backstepping algorithm is applied to the AFC design of underactuated systems. The analysis of both the disturbance attenuation in frequency domain and input-output finite gain L2 stability shows the new controller design method is applicable. In the end, simulations are conducted with respect to the tracking control of unmanned model helicopter. The results are compared with those obtained by the tracking control without AFC to verify the feasibility of the new method.
Language英语
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7294
Collection机器人学研究室
Recommended Citation
GB/T 7714
He YQ,Han JD. Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems[J]. 自动化学报,2008,34(5):558-564.
APA He YQ,&Han JD.(2008).Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems.自动化学报,34(5),558-564.
MLA He YQ,et al."Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems".自动化学报 34.5(2008):558-564.
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