By Topic

External model-based disturbance rejection in tracking control of Euler-Lagrange systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Zarikian, G. ; Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA ; Serrani, A.

We consider the systematic design of tracking controllers for Euler-Lagrange systems which are affected by unmeasurable harmonic disturbances. The problem addressed the paper departs from the classic setup of the regulator problem and its solution based on the internal model principle in two aspects. First, the presence of an exogenous disturbance affecting the output channel as well as the input channel of the plant is taken into account. Second, we aim at designing a nominal tracking controller using standard techniques, independently of the device that is used to provide asymptotic rejection of the disturbance. This latter is then placed outside the stabilizing loop, in such a way that stability is preserved, and asymptotic cancellation of the disturbance is guaranteed under mild conditions. The device in question is referred to as an external model of the exogenous system, to emphasize the departure from the classic internal model-based design. The external model is endowed with an adaptation mechanism that allows to deal with uncertainties on the frequencies of the exogenous signals as well. To validate our approach, we provide experimental results for a 2-DOF helicopter model.

Published in:

American Control Conference, 2005. Proceedings of the 2005

Date of Conference:

8-10 June 2005