Output Feedback Adaptive Robust Control of Uncertain Linear Systems With Disturbances

[+] Author and Article Information
Bin Yao1

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907byao@purdue.edu

Li Xu

Research and Advanced Engineering, Ford Motor Company, Dearborn, MI 48124


Also a Kuang-piu Professor at the State Key Laboratory of Fluid Power Transmission and Control in Zhejiang University, China.

J. Dyn. Sys., Meas., Control 128(4), 938-945 (Apr 26, 2006) (8 pages) doi:10.1115/1.2363413 History: Received October 28, 2005; Revised April 26, 2006

In this paper, a discontinuous projection based output feedback adaptive robust control (ARC) scheme is constructed for a class of linear systems subjected to both parametric uncertainties and disturbances that might be output dependent. An observer is first designed to provide exponentially convergent estimates of the unmeasured states. This observer has an extended filter structure so that on-line parameter adaptation can be utilized to reduce the effect of possible large disturbances that have known shapes but unknown amplitudes. Estimation errors that come from initial state estimates and uncompensated disturbances are dealt with via certain robust feedback at each step of the backstepping design. Compared to other existing output feedback robust adaptive control schemes, the proposed method explicitly takes into account the effect of disturbances and uses both parameter adaptation and robust feedback to attenuate their effects for an improved tracking performance. Experimental results on the control of an iron core linear motor are presented to illustrate the effectiveness and achievable performance of the proposed scheme.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Tracking errors for sinusoidal trajectory without load

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Figure 2

Parameter estimation of ARC1

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Figure 3

Control inputs for sinusoidal trajectory without load

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Figure 4

Tracking errors for sinusoidal trajectory with load

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Figure 5

Fast point-to-point motion trajectory

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Figure 6

Tracking errors for the fast point-to-point motion trajectory

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Figure 7

Tracking errors for the slow point-to-point motion trajectory




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