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A new disturbance observation based internal model controller
Zhu ZQ(朱志强); He YQ(何玉庆); Qi JT(齐俊桐); Han JD(韩建达)
作者部门机器人学研究室
会议名称2012 IEEE International Conference on Information and Automation, ICIA 2012
会议日期June 6, 2012 - June 8, 2012
会议地点Shenyang, China
会议录名称2012 IEEE International Conference on Information and Automation, ICIA 2012
出版者IEEE Computer Society
出版地Washington, DC
2012
页码518-523
收录类别EI ; CPCI(ISTP)
EI收录号20123915478402
WOS记录号WOS:000318899300092
产权排序1
ISBN号978-1-4673-2238-6
摘要A new robust controller design method, called disturbance observation based internal model control, is proposed. This new controller has a new structure composed of two sub-controllers, the inner disturbance compensator and the outer nominal controller. An attractive advantage of this structure is that the parameters of the two controllers can be designed separately. That is, there is little coupling between the two sub-controllers. The comparison between the structures of the proposed controller and that of the traditional internal model controller is given, and detailed theoretical analysis on controller performances, robustness and sensitivity are conducted. Finally, extensive experiments are conducted to verify the feasible and validity of this new controller designing algorithm in the real application. © 2012 IEEE.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/9861
专题机器人学研究室
通讯作者Zhu ZQ(朱志强)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.Graduate University of the Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Zhu ZQ,He YQ,Qi JT,et al. A new disturbance observation based internal model controller[C]. Washington, DC:IEEE Computer Society,2012:518-523.
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