By Lei Guo
''Developing the basic concept for architecting and tackling matters confronted in the course of complicated sensible engineering difficulties, this quantity specializes in superior anti-disturbance regulate and filtering conception and functions. The publication in particular addresses the unconventional disturbance observer established regulate (DOBC) methodologies for doubtful and nonlinear platforms in time area. It additionally examines novel anti-disturbance control and filtering with the composite hierarchical structure to augment regulate and filtering for the advanced keep watch over platforms with a number of disturbances. The publication presents program examples, together with flight keep an eye on, robot approach, altitude keep watch over, and preliminary alignment to teach easy methods to use the theoretical tools in engineering''--
''Preface Unknown disturbances originating from a number of resources exist in all functional managed platforms, the place unmodeled dynamics and uncertainties can be formulated as an an identical disturbance. As such, disturbance attenuation and rejection for nonlinear structures is a tough target within the sector of keep an eye on. research and synthesis for non-linear regulate structures with disturbances has been essentially the most energetic learn fields some time past few many years. There are numerous drawbacks to be conquer in destiny reviews on non-linear antidisturbance regulate. First, in engineering functions, the disturbance might originate from a number of resources and will be defined via a composite shape instead of a unmarried variable. to that end, the H8 keep watch over should be too conservative to supply hugely exact regulate functionality. nonetheless, disturbance rejection techniques often desire particular versions for either the managed process and the disturbance approach. This confines their purposes because the disturbance can be defined by means of a unmarried output variable from an actual exo-system and robustness is tough to assure. for instance, even if disturbance observer dependent keep an eye on is a sound disturbance rejection method for non-linear platforms with harmonic disturbances, the functionality of the approach will become worse if the disturbance version can't be defined accurately. In filtering difficulties, either exterior noises, size noises and constitution vibrations, and likewise unmodeled, nonlinear and unsure dynamics tend to be merged into the disturbance variable.''-- Read more...
Read or Download Anti-Disturbance Control for Systems with Multiple Disturbances PDF
Similar robotics & automation books
The atomic strength microscope (AFM) has been effectively used to accomplish nanorobotic manipulation operations on nanoscale entities akin to debris, nanotubes, nanowires, nanocrystals, and DNA considering that Nineties. there were many development on modeling, imaging, teleoperated or computerized keep watch over, human-machine interfacing, instrumentation, and functions of AFM established nanorobotic manipulation platforms in literature.
Robotic arms and Multi-Fingered Haptic Interfaces is a monograph targeting the comparability of human fingers with robotic palms, the basics in the back of designing and developing the latter, and robotics' most modern developments in haptic expertise. This paintings discusses the layout of robotic arms; touch types at greedy; kinematic types of constraint; dynamic versions of the multi-fingered hand; the steadiness theorem of non-linear regulate platforms; robotic hand keep watch over; layout and keep watch over of multi-fingered haptic interfaces; program structures utilizing multi-fingered haptic interfaces; and telecontrol of robotic palms utilizing a multi-fingered haptic interface.
This e-book offers tools, difficulties and instruments utilized in strategy regulate engineering. It discusses: method wisdom, sensor procedure know-how, actuators, conversation expertise and logistics in addition to layout and development of keep watch over platforms and their operation. the information is going past the normal procedure engineering box by means of utilizing a similar rules to biomedical procedures, power creation and administration of environmental matters.
- Regelungstechnik I: Klassische Verfahren zur Analyse und Synthese linearer kontinuierlicher Regelsysteme, Fuzzy-Regelsysteme
- Nonlinear Estimation and Control of Automotive Drivetrains
- Autonomous Mobile Robots
- Modern Control Theory
Extra resources for Anti-Disturbance Control for Systems with Multiple Disturbances
The stability of the system and disturbance attenuation performance based on a single controller no longer holds. DOBC strategies appeared in the late of 1980s and have been applied in many control areas (see [85, 87, 201], and references therein). For nonlinear systems with multiple disturbances, the H∞ and variable structure control has been integrated with DOBC in [22, 201, 202]. In [22, 202], multiple disturbances were divided into a norm bounded variable and uncer- 8 Anti-Disturbance Control for Systems with Multiple Disturbances tain modeled disturbance, where DOBC was applied to reject the modeled disturbance and robust H∞ was used to attenuate the norm bounded disturbance.
With the development of sensor technology, much attention has been paid to the characteristic analysis of noise and disturbance . However, most of the anti-disturbance control schemes have not combined the characteristic analysis of noise and disturbance, which hampered the application of anti-disturbance control theory. Secondly, the classical anti-disturbance control theory only considered one “equivalent”disturbance which was a combination of different unknown sources. However, it is noted that along with the development of sensor technology and data processing, it has been shown that multiple disturbances exist in most practical processes and can be formulated into different mathematical descriptions after modeling and error analysis.
However, the combination with nonlinear dynamics will change the original properties for some kinds of disturbances such as constant and harmonic. Obviously, for a nonlinear system, a nonlinear DOBC (NLDOBC) law can improve performance and robustness greatly against noise and unmodeled dynamics. To provide satisfactory control performances, new NLDOBC schemes have been proposed and applied to robotic systems [28, 31]. In these results only a class of single-input-single-output (SISO) nonlinear systems with well-defined disturbance relative degree are studied, and constant or harmonic disturbances are involved.