Authors:
D. E. Konovalov
1
;
S. A. Vrazhevsky
2
;
I. B. Furtat
2
and
A. S. Kremlev
1
Affiliations:
1
Faculty of Control Systems and Robotics, ITMO University, Kronverksky av. 49, St. Petersburg and Russia
;
2
Faculty of Control Systems and Robotics, ITMO University, Kronverksky av. 49, St. Petersburg, Russia, The Laboratory “Control of Complex Systems”, Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), V.O. Bolshoi pr., 61, St. Petersburg and Russia
Keyword(s):
Backstepping, Auxiliary Loop Method, Robust Control, Disturbance Observer, Output Control, Mismatched Disturbances.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Nonlinear Signals and Systems
;
Real-Time Systems Control
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
The article deals with a problem of output control for linear systems under unknown mismatched disturbances. This algorithm is based on the modified backstepping method and the auxiliary loop method. The proposed control scheme is a robust approach intended to unknown mismatched disturbances estimation and compensation. Efficiency of the method is verified by computer modelling and practical approbation of the algorithm using a laboratory platform called "Twin Rotor MIMO System".