Disturbance attenuation control of a class of unceractuated systems with acceleration measurement
文献类型：会议论文
| 作者 | He YQ(何玉庆) ; Han JD(韩建达)
|
| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 5-8, 2007 |
| 会议地点 | Harbin, China |
| 关键词 | disturbance attenuation acceleration feedback underactuated systems nonlinear H infinity control backstepping |
| 页码 | 2985-2990 |
| 中文摘要 | In 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | 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 |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0827-6 |
| WOS记录号 | WOS:000251178103109 |
| 源URL | [http://ir.sia.cn/handle/173321/8676]  |
| 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. Disturbance attenuation control of a class of unceractuated systems with acceleration measurement[C]. 见:IEEE International Conference on Mechatronics and Automation. Harbin, China. August 5-8, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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