Matched Disturbance Rejection for a Class of Nonlinear Systems
| Autor: | Richard H. Middleton, Romeo Ortega, Joel Ferguson, Alejandro Donaire |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 02 engineering and technology Function (mathematics) Computer Science Applications Matrix decomposition Mechanical system Nonlinear system 020901 industrial engineering & automation Exponential stability Control and Systems Engineering Control theory Stability theory Electrical and Electronic Engineering Representation (mathematics) |
| Zdroj: | IEEE Transactions on Automatic Control. 65:1710-1715 |
| ISSN: | 2334-3303 0018-9286 |
| DOI: | 10.1109/tac.2019.2933398 |
| Popis: | In this paper, we present a method to robustify asymptotically stable nonlinear systems by adding an integral action that rejects unknown additive disturbances. The proposed approach uses a port-Hamiltonian (pH) representation of the open-loop dynamics, which, relying on the asymptotic stability property, is guaranteed to exist. The integral action controller preserves the pH structure, and, by adding a suitable cross term between the plant and the controller states to the closed-loop energy function, it avoids the unnatural coordinate transformation used in the past. The controller is shown to be robust against some common types of modeling uncertainty, including unknown friction dynamics in mechanical systems. |
| Databáze: | OpenAIRE |
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