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robust tracking control for Self-balancing Mobile Robots Using Disturbance Observer

IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 458-465页

作者： Mou Chen College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China IEEE

In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan *** improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile *** the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile *** simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.

关键词： Disturbance observer robust tracking control self-balancing mobile robot sliding mode control(SMC)

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A Novel Disturbance Attenuation Method for robust tracking control

A Novel Disturbance Attenuation Method for Robust Tracking C...

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第十三届全国非线性振动暨第十届全国非线性动力学和运动稳...

作者： QIN Guo-zheng1,DUAN Zhi-sheng1(1.Department of Mechanics and Aerospace Engineering,College of Engineering,Peking University,Beijing 100871,China)

A new observer-based output feedback control method is presented in this paper to track a step signal and attenuate the external *** using the proposed method,the observer and the controller can be designed,*** design problem can be transformed into convex optimization problem and solved by means of linear matrix inequality(LMI)*** addition,the control approach can be extended to multi-model systems expediently by using the common Lyapunov function ***,a linearized aircraft model is simulated to demonstrate the effectiveness of the proposed disturbance attenuation method.

关键词： robust tracking control Output feedback control Disturbance attenuation Multi-model systems

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Adaptive robust tracking control of Uncertain Systems with Optimal Asymptotic robust Performance

Adaptive Robust Tracking Control of Uncertain Systems with O...

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第二十四届中国控制会议

作者： Li Shengping (Department of Mechatronic Engineering, Shantou University, Shantou 515063)

＜正＞ An adaptive robust tracking problem is investigated when a plant is subjected to both unmodelled dynamics and unknown external disturbances. A priori knowledge of the dynamic model of the reference signal to be tracked is not completely known. For such problem, an indirect adaptive tracking controller is obtained by frozen-time controllers that at each time optimally robustly stabilize the estimated models of the plant and minimize the worst-case steady state absolute value of the tracking error of the estimated model over the model uncertainty. Based on continuity properties of （?） optimal design found in the literature, the proposed adaptive tracking scheme is shown to have good robust stability. Moreover, a computable tight upper bound on asymptotic robust steady state tracking performance is provided.

关键词： adaptive control robust tracking control uncertainty systems

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Backstepping-based robust H∞ tracking control design for a class of stochastic nonlinear systems

Backstepping-based robust H∞ tracking control design for a ...

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第30届中国控制与决策会议

作者： Liu Hui Li Xiaohua School of Electronics and Information Engineering University of Science ＆ Technology Liaoning

In this paper,an approach based on backstepping techniques is proposed to design robust H ∞ tracking controller for a class of strict-feedback stochastic nonlinear systems with It?-*** approach employs backstepping techniques and combines Lyapunov theory with robust H ∞ disturbance attenuation performance to design H ∞ tracking *** difficulties are avoided for solving the Hamilton-Jacobi equations or the Hamilton-Jacobi inequalities as well as LMIs,which present in the existing papers,so that the controller can be designed more *** designed controller can guarantee that the output tracking error of the system is bounded in probability,at the same time,it can assure that all signals in the closed-loop system are bounded in probability,and there is the H ∞ disturbance attenuation performance for the external ***,the simulation results demonstrate the feasibility and validity of the proposed control scheme.

关键词： Stochastic nonlinear system backstepping technique H∞ disturbance attenuation robust tracking control

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robust Adaptive Reliable tracking control for a class of Uncertain Switched Fuzzy Systems

Robust Adaptive Reliable Tracking Control for a class of Unc...

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2009中国控制与决策会议

作者： Le Zhang~1,Shuliang Li~2,Hong Yang~1 1.Key Laboratory of Manufacturing Industrial Integrated Automation,Shenyang University,Shenyang 110044,China 2.Shenyang Institute of Aeronautical Engineering,Shenyang 110034,China

The problem,which combines the robust adaptive reliable control of uncertain stitched fuzzy system,is studied. Address the robust adaptive reliable control issue of nonlinear systems based on the uncertain switched fuzzy model,which each subsystem is an uncertain Takagi-Sugeno(T-S) fuzzy *** parametric uncertainly terms into building the T-S model for nonlinear systems,the uncertain switched fuzzy model may approach to the original system more exactly. When the upper bounds of the disturbances are unknown,and the actuator is serious failure and the residual part of actuator can not make original system stable,roust fuzzy adaptive reliable controller is built to ensure the relevant closed-loop system is uniformly ultimately bounded,by using switching technique and multiple Lyapunov function *** robustness and reliability are guaranteed for the uncertain closed-loop switched fuzzy system in sense of fuzzy controller.A simulation offered the effectiveness of the proposed method.

关键词： switched system multiple Lyapunov functions switching law robust tracking control adaptive control

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CONTINUOUS robust tracking controlLERS FOR A CLASS OF UNCERTAIN NONLINEAR DYNAMICAL SYSTEMS

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2001年第2期2卷 17-21页

作者：胡剑波苏宏业柯挺褚健陈新海 Institute of Advanced Process control National Lab of Industrial Control Technology of Zhejiang University Hangzhou China Northwestern Polytechnical University Xian China

robust tracking controller for a class of uncertain nonlinear dynamical systems, which are linearizable by input-output feedback with matching uncertainties, was investigated. In this study, uniform ultimate bound or uniformly asymptotic stability of tracking errors were obtained by different choice of the control gain. A simulation to determine the effectiveness of the proposed approach showed that the control performance was better than that of VSC (Variable Structure control).

关键词： robust tracking control uncertain nonlinear dynamical system Lyapunov function

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Singular perturbation composite control of a free-floating flexible dual-arm space robot

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Journal of Pharmaceutical Analysis 2008年第1期20卷 43-47,70页

作者：罗战武王从庆 College of Automation Engineering Nanjing University of Aeronautics and Astronautics

The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.

关键词： free-floating Flexible Dual-arm Space Robot singular perturbation robust tracking control vibration suppression

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Backstepping-based robust H tracking controller Design for a Class of Nonlinear Systems

Backstepping-based Robust H Tracking Controller Design for a...

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第37届中国控制会议

作者： Xiaojie Cao Xiaohua Li School of Electronic and Information Engineering University of Science and Technology Liaoning

In this paper,the robust H tracking control problem is studied for a class of strict-feedback nonlinear systems with external *** backstepping technique is adopted combining Lyapunov theory with robust H disturbance attenuation *** the robust H tracking controller is *** designed controller can guarantee that the output tracking error of the system is *** the same time,all signals in the closed-loop system are assured to be bounded,and there is the H disturbance attenuation performance for external ***,the simulation results demonstrate the validity and feasibility of the proposed control scheme.

关键词： Nonlinear system backstepping technique H disturbance attenuation robust tracking control

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robust control for an uncertain Micro-hand actuator using passivity based robust right coprime factorization

Robust control for an uncertain Micro-hand actuator using pa...

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第32届中国过程控制会议(CPCC2021)

作者： Ni Bu Haoyu Liu Xiaoguang Wang Yuyi Zhang Xiaoyong Li College of Automation and Electronic Engineering Qingdao University of Science and Technology

As an important research field in the field of robotics,the research of Micro-hand system has received more and more extensive attention in recent *** this paper,based on the operator-based robust right coprime factorization(RRCF),a dynamic model of the Micro-hand system is ***,the robust stability and passivity of the system are discussed;further,the robust control scheme based on internal model is proposed,by which the effect from the uncertainty is eliminated and the whole nonlinear systems hold robustness while the plant output tracks the reference ***,simulation is used to further verify its effectiveness.

关键词： robust stability nonlinear system internal model robust tracking control

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