Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems
文献类型：期刊论文
| 作者 | He YQ(何玉庆) ; Han JD(韩建达)
|
| 刊名 | 自动化学报
 |
| 出版日期 | 2008 |
| 卷号 | 34期号:5页码:558-564 |
| 关键词 | Disturbance attenuation acceleration feedback control underactuated systems backstepping nonlinear H∞ control |
| ISSN号 | 1874-1029 |
| 产权排序 | 1 |
| 中文摘要 | In this paper, a generalized acceleration feedback control (AFC) design method, named AFC enhanced H∞ controller, is proposed for both fullactuated and underactuated nonlinear autonomous vehicle systems. The AFC is designed as a robust enhancement to the normal control based on known dynamics. First, in order to reject the uncertainties and external disturbances, a linear prefilter is used in the new AFC design method to replace the high gain in the normal AFC. Then, backstepping algorithm is applied to the AFC design of underactuated systems. The analysis of both the disturbance attenuation in frequency domain and input-output finite gain L2 stability shows the new controller design method is applicable. 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 AFC to verify the feasibility of the new method. |
| 收录类别 | EI ; CSCD |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7294]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | He YQ,Han JD. Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems[J]. 自动化学报,2008,34(5):558-564. |
| APA | He YQ,&Han JD.(2008).Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems.自动化学报,34(5),558-564. |
| MLA | He YQ,et al."Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems".自动化学报 34.5(2008):558-564. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。