控制理论(社会学)
反推
国家观察员
扰动(地质)
控制器(灌溉)
李雅普诺夫函数
控制工程
跟踪(教育)
观察员(物理)
跟踪误差
噪音(视频)
计算机科学
工程类
控制(管理)
非线性系统
自适应控制
人工智能
心理学
古生物学
教育学
物理
量子力学
农学
图像(数学)
生物
作者
Zhangbao Xu,Guoliang Qi,Qingyun Liu,Jianyong Yao
标识
DOI:10.1016/j.apm.2022.06.043
摘要
In this paper, a practical output feedback disturbance rejection controller holding the desired dynamic behavior is proposed for precise movement control of hydraulic systems with disturbances, unknown states, and severe measurement noise. To relieve the noise and deal with unknown states, the estimated values obtained by the state observer are used to replace the actual states. Considering the matched and mismatched disturbances in hydraulic systems, the state observer and disturbance observer are combined to obtain their estimations. A prescribed performance function constraining tracking performance and the barrier Lyapunov function maintaining the desired dynamics are synthesized to guarantee the tracking error and all state errors within desired boundaries. Then, an integrated output feedback disturbance rejection controller is constructed through backstepping design to stabilize the closed-loop system. Finally, abundant comparative experimental results validate the tracking performance of the proposed controller.
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