Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections

来源 :控制理论与技术(英文版) | 被引量 : 0次 | 上传用户:totti_sqh
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable(flat)tangent linearization around an operating equilibrium point.An endogenous injections and exogenous feedback(EIEF)approach is proposed,which is naturally equivalent to the generalized propor-tional integral control method and to a robust classical compensation network.It is shown that the EIEF controller is also equivalent,within a frequency domain setting demanding respect for the separation principle,to the reduced order observer based active disturbance rejection control approach.The proposed linear control approach is robust with respect to total dis-turbances and,thus,it is effective for the linear control of the nonlinear Lagrangian system.An illustrative nonlinear rotary crane Lagrangian system example,which is non-feedback linearizable,is presented along with digital computer simulations.
其他文献
An extended state observer(ESO)-based loop filter is designed for the phase-locked loop(PLL)involved in a disturbed grid-connected converter(GcC).This ESO-based
《唐代园林与文学之关系研究》一书书以史为脉、以诗为媒、以园为体,通过微观解读与宏观论证的方式对唐代园林艺术发展对文学创作理念的影响展开了全面且系统的研究.rn1)以史
期刊
作为广州美术学院一线教师的作者,在书中凝聚了他们一线教学实践的思考成果,试图去回答公共艺术中公认紧迫的问题,即公共艺术是什么以及如何体系化该专业的教学与实践.书中认
期刊
Online optimization has received numerous attention in recent two decades,mostly inspired by its potential applica-tions to auctions,smart grids,portfolio manag
期刊
Key to any control system is a mechanism that regulates cer-tain attributes of a dynamic system,engineered or natural.In this field of profound impacts to all b
期刊
The paper presents a novel control design,which is based on the idea of active disturbance rejection control(ADRC),for a kind of flexible aerocraft whose contro
“世界之星”包装奖作品推荐组委会是世界包装组织认可的中国赛区“世界之星”作品推荐机构.组委会设立的中国“包装之星”奖是世界包装组织确认的中国具有报送资格的包装设
期刊
根据商务部“技术性贸易措施体系建设——出口商品技术指南”项目计划,由商务部出口商品技术服务中心(商品包装)承担单位中国出口商品包装研究所负责修订的《出口商品技术指
期刊
In this work,the problem of designing a robust control algorithm for a DC-DC buck power converter is investigated.The applied solution is based on a recently pr
In this paper,a data-driven method for disturbance estimation and rejection is presented.The proposed approach is divided into two stages:an inner stabilization