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题名: Acceleration feedback enhanced H∞ disturbance attenuation control
作者: He YQ(何玉庆) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 33rd Annual Conference of the IEEE-Industrial-Electronics-Society
会议日期: November 5-8, 2007
会议地点: Taipei, TAIWAN
会议主办者: IEEE Ind Elect Soc, Natl Chung Cheng Univ, Soc Instrument & Control Engineers, Natl Taiwan Univ, Natl Chung Cheng Univ, Acad Fdn
会议录: IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 839-844
收录类别: CPCI(ISTP) ; EI
ISSN号: 1553-572X
ISBN号: 978-1-4244-0783-5
摘要: In this paper, a robust controller design method is proposed with measurable acceleration signals. In general, the normal high-gain acceleration feedback control (AFC) is too complicated to be designed and cannot be used in underactuated or nonlinear systems, as well suffers from the algebraic loop. Whereas, the new controller in this paper overcome all these disadvantages by introducing a linear pre-filter. Subsequently, the H infinity technique is used to ensure the disturbance to output stability. And, backstepping algorithm is considered to deal with a class of underactuated systems combined with the new robust controller. Finally, simulations are conducted with respect to the tracking control of an unmanned model helicopter. The results are compared with those obtained by the controllers without acceleration feedback and verify the feasibility of the new controller design method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8530
Appears in Collections:机器人学研究室_会议论文

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何玉庆; 韩建达 .Acceleration feedback enhanced H∞ disturbance attenuation control.见:IEEE .IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS,NEW YORK,2007,839-844
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