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- 검색키워드
- 저자 : Ruben Garrido M. (검색결과 1 건)
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A Robust Controller for Trajectory Tracking of a DC Motor Pendulum System
Carlos Aguilar-Ibañez,Julio Mendoza-Mendoza,Jorge Davila,Miguel S. Suarez-Castanon,Ruben Garrido M. 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
This work presents a solution to the output feedback trajectory tracking problem for an uncertain DCmotor pendulum system under the effect of an unknown bounded disturbance. The proposed algorithm uses a ProportionalDerivative (PD) controller plus a novel on-line estimator of the unknown disturbance. The disturbanceestimator is obtained by coupling a standard second-order Luenberger observer with a third-order sliding modes differentiator. The Luenberger observer provides estimates of the motor angular position and velocity. Moreover, anideal disturbance estimator in terms of the Luenberger observer error and its first and second time derivatives is obtainedfrom the observer error formulae; these time derivatives are not available from measurements. Subsequently,the sliding modes third-order differentiator allows obtaining estimates of these time derivatives in finite time. Theestimates replace the real values of the first and second time derivatives in the ideal disturbance estimator thusproducing a practical disturbance estimator, and also permit obtaining an estimate of the motor angular velocity. Adepart from previous approaches is the fact that the disturbance is not directly estimated by the Luenberger observeror the third-order differentiator. Numerical simulations and real-time experiments validate the effectiveness of theproposed approach.
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