Decoupling Control of Nonlinear Systems Using Disturbance Observer. Decoupling Control of DD Robot in Task Space.
نویسندگان
چکیده
منابع مشابه
Nonlinear Control, Disturbance Decoupling and Load Estimation in Hvac Systems
A new control methodology is introduced for nonlinear, MIMO Heating, Ventilating and Air Conditioning (HVAC) Systems. A feedback of states and disturbances is used for disturbance decoupling and model linearization purposes. The Back-stepping controller is applied to the system’s linearized model, then. It is shown that in this way, heat and moisture loads can be compensated completely if consi...
متن کاملRobust Decoupling Control for Mobile Manipulators Based on Disturbance Observer
This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF man...
متن کاملNonlinear almost disturbance decoupling
The L2-gain almost disturbance decoupling problem for SISO nonlinear systems is formulated. Sufficient conditions are identified for the existence of a parametrized state feedback controller such that the Le-gain from disturbances to output can be made arbitrarily small by increasing its gain. The controller is explicitly constructed using a Lyapunov-based recursive scheme. Sufficient condition...
متن کاملA Task Space Decoupling Approach to Hybrid Control of Manipulators
A scheme for dynamic hybrid control of robot manipulators is presented. The design is directly achieved in task space coordinates. In this way, the inherent orthogonality between force and velocity description of tasks is preserved and overspecification is avoided in the control synthesis. A nonlinear decoupling and linearizing feedback law is obtained which yields invariant control performance...
متن کاملOptimal decentralized control design with disturbance decoupling
In this paper we present an input-output point of view for the problem of closed loop norm minimization of stable plants when a decentralized structure and a disturbance decoupling property are imposed on the controller. We show that this problem is convex and present approaches to its solution in the optimal t\ sense in the nontrivial case which is when the block off-diagonal terms of the plan...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1995
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.13.420