Output Adaptive Switching Controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation
| Autor: | Alexey A. Bobtsov, Fatimat B. Karashaeva, Dmitrii Dobriborsci, Sergey A. Kolyubin |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Controller design
0209 industrial biotechnology Computer science 020208 electrical & electronic engineering Internal model Estimator 02 engineering and technology Adaptive switching 020901 industrial engineering & automation Control and Systems Engineering Control theory Bounded function 0202 electrical engineering electronic engineering information engineering Excitation |
| Zdroj: | IFAC-PapersOnLine. 52:263-268 |
| ISSN: | 2405-8963 |
| Popis: | A new DREM-based (Dynamic Regressor Extension and Mixing) modification for output adaptive controller with input multi-harmonic disturbance cancellation is proposed in this paper. This approach provides monotonic convergence of the disturbance internal model parameters’ estimates to its true values. We also introduce a novel algorithm for the DREM-based estimator gains tuning in order to improve convergence under poor excitation. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed, while the non-prehensile ball stabilization in a predefined coordinates under bounded disturbances is a task to be solved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|