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This article investigates the control problem of rejection and tracking unknown sinusoidal signals for linear timeinvariant systems. The derived controller is in terms of state-derivative feedback since the derivative of the state rather than the state can be directly measured in some cases. Meanwhile, in order to reject and track the unknown sinusoidal signals simultaneously, we identify their models,...
Active Disturbance Rejection Control (ADRC) is a quiet different design concept that shows much promise in obtaining a consistent response in a control system with many uncertainties. For the lack of frequency-domain analysis, in this paper, starting from the frequency domain methods, the tracking ability of linear extended state observer (LESO) and the disturbance rejection quality of linear ADRC...
We propose a new smooth attitude controller for rigid body in the presence of input saturation and external disturbances. The controller is composed of three parts, i.e., the quaternion part, the saturated velocity part, and the bounded disturbance compensation part. The disturbance compensation part is derived from disturbance observers. The main contribution of the study is that the constructed...
In this paper, the problem of asymptotic attenuation and rejection for systems with general periodic disturbances via nonlinear disturbance observer and H∞ control is investigated. A composite controller is constructed by combining the disturbance estimation value with state feedback control law, which can guarantee the closed-loop system asymptotical stability with H∞ performance. Some sufficient...
The paper proposed a nonlinear continuous static gain scheduled controller for the spacecraft circular orbit rendezvous system with input saturation, input-additive uncertainties and external disturbances by combining the parametric Lyapunov equation-based low gain feedback design method and gain scheduling technique. The relative models are established based on C-W equation. To apply the proposed...
This paper deals with the disturbance rejection problem in a repetitive control system (RCS) with time-varying uncertainties. The RCS is first described in the two-dimensional (2D) form. Next, an equivalent-input-disturbance (EID)-based estimator is incorporated into the 2D RCS to solve the problem of aperiodic disturbance rejection. Under this configuration of the system, while a periodic reference...
This paper investigates a novel control strategy for the position and attitude tracking control problem of a quadrotor UAV based on terminal sliding mode control. To realize the control objective, the model of the quadrotor UAV with six degrees of freedom which is actually a class of underactuated systems, is reasonably divided into a fully actuated subsystem with two degrees of freedom and an underactuated...
High-precise testing table is a typical continuously rotating mechanism which is used to test and calibrate inertial components. High operation smoothness is a significant index associated to these kinds of equipments, which is influenced mostly by the external disturbances acting on the systems. In this paper, the disturbances existing in the system are investigated by experiments, and the characteristic...
This paper presents a discrete-time robust nonlinear control scheme to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The control scheme is built on the framework of composite nonlinear feedback (CNF) control, which implements a dynamically-damped closed-loop system to achieve a fast response with low overshoot. A disturbance-rejection...
Finite-time input-to-state stability (ISS) guarantees that for any bounded input, the system state will be bounded in finite time. This property better satisfies the demands of the terminal guidance system f or target maneuver rejection performance and convergence rate. In this paper, using the finite-time ISS theory, a novel guidance law is proposed for the interception of three-dimensional maneuvering...
Hierarchical control architecture is a common to hydraulic systems. This paper outlines the application of a modelbased control referred to as Embedded Model Control for implementing the hierarchical position control of an electro-hydraulic proportional valve. The hierarchy consists of two loops: the inner loop is the solenoid current regulator with a closed loop bandwidth close to 1 kHz. The outer...
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