Robust Tracking by Reduced-order Disturbance Observer: Linear Case

被引:0
作者
Back, Juhoon [1 ]
Shim, Hyungbo [2 ]
Jo, Nam H. [3 ]
Kim, Jung-Su [4 ]
机构
[1] Kwangwoon Univ, Sch Robot, Seoul, South Korea
[2] Seoul Natl Univ, Sch Elect Engn & Comp Sci, Seoul, South Korea
[3] Soongsil Univ, Sch Elect Engn, Seoul, South Korea
[4] Seoul Natl Univ, Dept Control & Instrumentat Engn, Seoul, South Korea
来源
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年
关键词
NONLINEAR-SYSTEMS; CONTROLLER-DESIGN; FREEDOM;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.
引用
收藏
页码:3514 / 3519
页数:6
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