An Observer-Backstepping Robust Controller Design Method

2019 International Conference on Advanced Electronic Materials, Computers and Materials Engineering

无线电电子学;计算机科学;材料科学

Li, Zhen^1 ; Chen, Xin^1

College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China^1

关键词: Adaptive functions;    Back-stepping controls;    External disturbances;    Robust controller design;    Robust design methods;    Unmodeled dynamics;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/563/4/042078/pdf
DOI  :  10.1088/1757-899X/563/4/042078

来源: IOP

【 摘 要 】

Unmodeled dynamics and external disturbances are the main factors affecting system performance. In this paper, a robust design method based on backstepping control and observer is proposed to overcome the problem of the system unmodeled parts and external disturbances. To improve the performance, the controller uses adaptive function to eliminate the effect of the unmodeled dynamics. For the external disturbances, this paper using observer to accurately estimated and effectively compensated. The simulation results show that the controller designed in this paper has good performance and can accurately response the input commands in the case of the unmodeled part of the system and the external disturbance.