A Double-loop Control Structure for Tracking Control and Disturbance Attenuation
نویسندگان
چکیده
The development of high performance controllers capable of dealing with both tracking control and disturbance rejection has attracted considerable attention. This paper investigates the twodegree-of-freedom control structures with a disturbance observer and command feedforward control, respectively, and presents a double-loop control structure. The proposed control structure allows intuitive and independent tuning of disturbance rejection as well as tracking performance. Experimental results obtained from an illustrated servo control system are given to demonstrate the effectiveness and feasibility of the double-loop control structure and design methodology.
منابع مشابه
Voltage Control of Three Phase Inverters by Using Active Disturbance Rejection Control
Control of three phase inverters has been an important issue in recent years. This paper proposes active disturbance rejection control (ADRC) scheme for controlling three phase inverters. The main advantage of ADRC that motivated us for using this controller for inverter is that it is model independent. This controller is used in a double loop structure including an inner current loop and oute...
متن کاملIntegrator Backstepping Control of a 5 DoF Robot Manipulator with Cascaded Dynamics
In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...
متن کاملOn disturbance attenuation of nonlinear moving horizon control
This paper addresses the disturbance attenuation problem in nonlinear moving horizon control. Conceptually a minimax formulation with a general dissipation constraint is suggested and theoretical results on closed-loop dissipation, L2 disturbance attenuation and stability are discussed. The implementation issue is attacked with respect to tracking a reference trajectory in the presence of exter...
متن کاملDesigning and Modeling a Control System for Aircraft in the Presence of Wind Disturbance (TECHNICAL NOTE)
This paper proposes a switching adaptive control for trajectory tracking of unmanned aircraft systems. The switching adaptive control method is designed to overcome the wind disturbance and achieve a proper tracking performance for control systems. In the suggested system, the wind disturbance is regarded as a finite set of uncertainties; a controller is designed for each uncertainty, and a per...
متن کاملRobust Fuzzy Gain-Scheduled Control of the 3-Phase IPMSM
This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...
متن کامل