Disturbance Observer-Based Control of Master and Slave Systems with Input Saturation
| Autor: | Mazda Moattari, Ahmad Forouzantabar, Mohammad Azadi, Padideh Rasouli |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov function
021110 strategic defence & security studies Computer science 0211 other engineering and technologies 02 engineering and technology Stability (probability) Acceleration symbols.namesake Nonlinear system Control and Systems Engineering Control theory Signal Processing 0202 electrical engineering electronic engineering information engineering symbols 020201 artificial intelligence & image processing Transparency (data compression) Saturation (chemistry) Actuator Software |
| Zdroj: | Automatic Control and Computer Sciences. 54:19-29 |
| ISSN: | 1558-108X 0146-4116 |
| Popis: | Stability and transparency are the primary aims in the control nonlinear master and slave systems. Ignoring input saturation and disturbances like dynamic uncertainties may result in performance depression and instability of the system. This paper proposes a nonlinear controller to guarantee the stability and to ameliorate the adverse effects of disturbances, time delays and input saturation on a master and slave system. First, a disturbance observer is developed without requiring acceleration measurements. Then, a disturbance observer-based control law is proposed for the case of input saturation to suppress the problems caused by saturation. The proposed controller can prevent the actuators to work beyond their capabilities and also, effectively handles abnormal situations. The Lyapunov-based analysis shows the ultimately boundedness of the closed-loop signals. Finally, simulations are given to validate the results. |
| Databáze: | OpenAIRE |
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