中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Disturbance attenuation control of a class of unceractuated systems with acceleration measurement
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: IEEE International Conference on Mechatronics and Automation
会议日期: August 5-8, 2007
会议地点: Harbin, China
会议主办者: IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchu Univ Sci & Technol, Beijing Univ Technol, IEEE Hong Kong Sect Joint RACS Chapter
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 2985-2990
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0827-6
关键词: disturbance attenuation ; acceleration feedback ; underactuated systems ; nonlinear H infinity control ; backstepping
摘要: In this paper, a new kind of disturbance attenuation controller design method, based on the acceleration measurement, is proposed for a class of underactuated systems by combining with the backstepping and H infinity technique. Comparing with the traditional high gain acceleration feedback control method, where the acceleration feedback loop is important but difficult to design, the acceleration measurement in the new controller is only used to obtain the disturbance signals. Simultaneously, in order to overcome the heavy noise accompanied with the acceleration measurement and the algebraic loop problem, a linear pre-filter is introduced. The designing process concerns both nonlinear H infinity controller and linear filter theory, which make the disturbance be attenuated from the concepts of both linear filter in frequency domain and input-output finite gain L-2 stability in time domain. 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 acceleration measurement to verify the feasibility of it.
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/173321/8676
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
HYQW000510.pdf(295KB)----开放获取View Download

Recommended Citation:
何玉庆; 韩建达 .Disturbance attenuation control of a class of unceractuated systems with acceleration measurement.见:IEEE .2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS,NEW YORK,2007,2985-2990
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[何玉庆]'s Articles
[韩建达]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[何玉庆]‘s Articles
[韩建达]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: HYQW000510.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace