Tracking controller with harmonic disturbance cancellation
| Autor: | Alexey Margun, Dmitrii Dobriborsci, Sergey A. Kolyubin |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering System stability 02 engineering and technology Parallel kinematics 020901 industrial engineering & automation Robotic systems Control theory Bounded function Sliding window protocol 0202 electrical engineering electronic engineering information engineering Ball (bearing) Parametric statistics |
| Zdroj: | ECC |
| Popis: | In this paper we consider the tracking problem with simultaneous unknown harmonic disturbance rejection for a linear parametric uncertain stationary SISO systems of arbitrary relative degree. The proposed structure is an extension of authors' previous results, which are based on output controller “consecutive compensator”. Closed-loop system stability is proven and an iterative disturbance frequency estimation algorithm with ‘sliding window’ update scheme is introduced. Parallel kinematics Ball-and-Plate on a movable platform robotic system is considered as a test-bed, while the non-prehensile ball manipulation along a predefined cyclic trajectory under bounded disturbances is a task to be solved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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