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An adaptive robust nonlinear motion controller combined with disturbance observer / Zi-Jiang Yang in IEEE Transactions on control systems technology, Vol. 18 N° 2 (Mars 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 2 (Mars 2010) . - pp. 454-462 Titre : An adaptive robust nonlinear motion controller combined with disturbance observer Type de document : texte imprimé Auteurs : Zi-Jiang Yang, Auteur ; Seiichiro Hara, Auteur ; Shunshoku Kanae, Auteur Année de publication : 2011 Article en page(s) : pp. 454-462 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive  control  Disturbance  observer  (DOB)  Input-to-state  stability  Motion  control  Robust  control Index. décimale : 629.1 Résumé : Parameter adaptation and disturbance observer (DOB) have been considered as two contrastively different approaches to handle uncertainties in motion control problems. The purpose of this brief is to merge both techniques into one control design with theoretically guaranteed performance. It is shown that the DOB compensates low-passed components of the lumped uncertainties without the necessity of parameterization, whereas the adaptive mechanism is only automatically activated in the cases where the fast-changing components of the uncertainties beyond the pass-band of the DOB can be parameterized by unknown parameters. It is thus shown theoretically how the DOB and adaptive mechanism play in a cooperative way so that the controller is more effective than the individual ones. Simulation results are provided to support the theoretical results. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5169843 [article] An adaptive robust nonlinear motion controller combined with disturbance observer [texte imprimé] / Zi-Jiang Yang, Auteur ; Seiichiro Hara, Auteur ; Shunshoku Kanae, Auteur . - 2011 . - pp. 454-462. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 2 (Mars 2010) . - pp. 454-462 Mots-clés : Adaptive  control  Disturbance  observer  (DOB)  Input-to-state  stability  Motion  control  Robust  control Index. décimale : 629.1 Résumé : Parameter adaptation and disturbance observer (DOB) have been considered as two contrastively different approaches to handle uncertainties in motion control problems. The purpose of this brief is to merge both techniques into one control design with theoretically guaranteed performance. It is shown that the DOB compensates low-passed components of the lumped uncertainties without the necessity of parameterization, whereas the adaptive mechanism is only automatically activated in the cases where the fast-changing components of the uncertainties beyond the pass-band of the DOB can be parameterized by unknown parameters. It is thus shown theoretically how the DOB and adaptive mechanism play in a cooperative way so that the controller is more effective than the individual ones. Simulation results are provided to support the theoretical results. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5169843