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Acceleration feedback enhanced H∞ disturbance attenuation control
He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Conference Name33rd Annual Conference of the IEEE-Industrial-Electronics-Society
Conference DateNovember 5-8, 2007
Conference PlaceTaipei, TAIWAN
Author of SourceIEEE Ind Elect Soc, Natl Chung Cheng Univ, Soc Instrument & Control Engineers, Natl Taiwan Univ, Natl Chung Cheng Univ, Acad Fdn
Source PublicationIECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages839-844
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083511487779
WOS IDWOS:000253451400147
Contribution Rank1
ISSN1553-572X
ISBN978-1-4244-0783-5
AbstractIn 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.
Language英语
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8530
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, CAS
2.Graduate School of CAS
Recommended Citation
GB/T 7714
He YQ,Han JD. Acceleration feedback enhanced H∞ disturbance attenuation control[C]//IEEE Ind Elect Soc, Natl Chung Cheng Univ, Soc Instrument & Control Engineers, Natl Taiwan Univ, Natl Chung Cheng Univ, Acad Fdn. NEW YORK:IEEE,2007:839-844.
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