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Disturbance attenuation control of a class of unceractuated systems with acceleration measurement
He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Conference NameIEEE International Conference on Mechatronics and Automation
Conference DateAugust 5-8, 2007
Conference PlaceHarbin, China
Author of SourceIEEE 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
Source Publication2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages2985-2990
Indexed ByEI ; CPCI(ISTP)
EI Accession number20075110979712
WOS IDWOS:000251178103109
Contribution Rank1
ISBN978-1-4244-0827-6
KeywordDisturbance Attenuation Acceleration Feedback Underactuated Systems Nonlinear h Infinity Control Backstepping
AbstractIn 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8676
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang, Institute of Automation, Graduate School of CAS, Shenyang, 110016, China
2.Robotics Laboratory, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
Recommended Citation
GB/T 7714
He YQ,Han JD. Disturbance attenuation control of a class of unceractuated systems with acceleration measurement[C]//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. NEW YORK:IEEE,2007:2985-2990.
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