In this paper, a discontinuous projection based output feedback adaptive robust control (ARC) scheme is constructed for a class of linear systems subjected to both parametric uncertainties and disturbances that might be output dependent. An observer is first designed to provide exponentially convergent estimates of the unmeasured states. This observer has an extended filter structure so that on-line parameter adaptation can be utilized to reduce the effect of possible large disturbances that have known shapes but unknown amplitudes. Estimation errors that come from initial state estimates and uncompensated disturbances are dealt with via certain robust feedback at each step of the backstepping design. Compared to other existing output feedback robust adaptive control schemes, the proposed method explicitly takes into account the effect of disturbances and uses both parameter adaptation and robust feedback to attenuate their effects for an improved tracking performance. Experimental results on the control of an iron core linear motor are presented to illustrate the effectiveness and achievable performance of the proposed scheme.
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December 2006
Technical Papers
Output Feedback Adaptive Robust Control of Uncertain Linear Systems With Disturbances
Bin Yao,
Bin Yao
School of Mechanical Engineering,
byao@purdue.edu
Purdue University
, West Lafayette, IN 47907
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Li Xu
Li Xu
Research and Advanced Engineering,
Ford Motor Company
, Dearborn, MI 48124
Search for other works by this author on:
Bin Yao
Li Xu
Research and Advanced Engineering,
Ford Motor Company
, Dearborn, MI 48124J. Dyn. Sys., Meas., Control. Dec 2006, 128(4): 938-945 (8 pages)
Published Online: April 26, 2006
Article history
Received:
October 28, 2005
Revised:
April 26, 2006
Citation
Yao, B., and Xu, L. (April 26, 2006). "Output Feedback Adaptive Robust Control of Uncertain Linear Systems With Disturbances." ASME. J. Dyn. Sys., Meas., Control. December 2006; 128(4): 938–945. https://doi.org/10.1115/1.2363413
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