Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6954608 | Mechanical Systems and Signal Processing | 2018 | 13 Pages |
Abstract
A discrete-time backstepping control algorithm is proposed for reference tracking of systems affected by both broadband disturbances at low frequencies and narrow band disturbances at high frequencies. A discrete time DOB, which is constructed based on infinite impulse response filters is applied to compensate for narrow band disturbances at high frequencies. A discrete-time nonlinear damping backstepping controller with an augmented observer is proposed to track the desired output and to compensate for low frequency broadband disturbances along with a disturbance observer, for rejecting narrow band high frequency disturbances. This combination has the merit of simultaneously compensating both broadband disturbances at low frequencies and narrow band disturbances at high frequencies. The performance of the proposed method is validated via experiments.
Related Topics
Physical Sciences and Engineering
Computer Science
Signal Processing
Authors
Wonhee Kim, Xu Chen, Youngwoo Lee, Chung Choo Chung, Masayoshi Tomizuka,