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An application of feedback linearization to the tracking and almost disturbance decoupling control of nonlinear system with uncertainties

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EN
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EN
This paper studies the tracking and almost disturbance decoupling problem of nonlinear systems with uncertainties, based on the feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. Two examples, which cannot be solved by the first paper on the almost disturbance decoupling problem, are proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by the proposed approach. In order to demonstrate the practical applicability, the paper has investigated the AMIRA ball and beam system.
Rocznik
Strony
385--403
Opis fizyczny
Bibliogr. 33 poz., wykr.
Twórcy
autor
autor
autor
autor
autor
  • Dep. of Electrical Engineering, National Formosa University, No. 64, Wun-Hwa Road, Huwei, Yunlin, Taiwan, R.O.C.
Bibliografia
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  • BALL, J.A., HELTON, J.W. and WALKER, M.L. (1993) H∞ control for nonlinear systems with output feedback. IEEE Trans. Automat. Contr. 38, April, 546-559.
  • BEDROSSIAN, N.S. (1992) Approximate feedback linearization: the car-pole example. Proceedings of the 1992 IEEE International Conference on Robotics and Automation, France, Nice, May, 1987-1992.
  • CHEN, B.S., LEE, C.H. and CHANG, Y.C. (1996) H∞ tracking design of uncertain nonlinear SISO systems: Adaptive fuzzy approach. EEE Trans. Fuzzy System. 4 (1), February, 32-43.
  • CORLESS, M.J. and LEITMANN, G. (1981) Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems. IEEE Trans. Automat. Contr. 26 5, October, 1139-1144.
  • GOPALSWAMY, S. and HEDRICK, J.K. (1993) Tracking nonlinear nonminimum phase systems using sliding control. Int. J. Contr. 57, May, 1141-1158.
  • HENSON, M.A. and SEBORG, D.E. (1991) Critique of exact linearization strategies for process control. Journal Process Control 1, 122-139.
  • HUANG, J. and RUGH, W.J. (1990) On a nonlinear multivariable servomechanism problem. Automatica 26, June, 963-992.
  • ISIDORI, A. (1989) Nonlinear Control Systems. Springer Verlag, New York.
  • ISIDORI, A. (1994) H∞ control via measurement feedback for affine nonlinear systems. International Journal of Robust Nonlinear Control.
  • ISIDORI, A. and BYRNES, C.I. (1990) Output regulation of nonlinear systems. IEEE Trans. Automat. Contr. 35, February, 131-140.
  • ISIDORI, A. and KANG, W. (1995) H∞ control via measurement feedback for general nonlinear systems. IEEE Trans. Automat. Contr. 40, March, 466-472.
  • JOO, S.J. and SEO, J.H. (1997) Design and analysis of the nonlinear feedback linearizing control for an electromagnetic suspension system. IEEE Trans. Automat. Contr. 5 (1), January, 135-144.
  • KHALIL, H.K. (1996) Nonlinear Systems. Prentice-Hall, New Jersey.
  • KHORASANI, K. and KOKOTOVIC, P.V. (1986) A corrective feedback design for nonlinear systems with fast actuators. IEEE Trans. Automat. Contr. 31, 67-69.
  • LEE, S.Y., LEE, J.I. and HA, I.J. (1997) A new approach to nonlinear autopilot design for bank-to-turn missiles, Proceedings of the 36th Conference on Decision and Control, San Diego, California, December, 4192-4197.
  • MARINO, R. and KOKOTOVIC, P.V. (1988) A geometric approach to nonlinear singularly perturbed systems. Automatica 24, 31-41.
  • MARINO, R., RESPONDEK, W. and VAN DER SCHAFT, A.J. (1987) Almost input-output decoupling and almost disturbance decoupling: A singular perturbation approach, Dep. Appl. Math. Univ. Twente, Memo 637, June.
  • MARINO, R., RESPONDEK, W. and VAN DER SCHAFT, A.J. (1988) A direct approach to almost disturbance and almost input-output decoupling. Int. J. Contr. 48, 353-383.
  • MARINO, R., RESPONDEK, W. and VAN DER SCHAFT, A.J. (1989) Almost disturbance decoupling for single-input single-output nonlinear systems. IEEE Trans. Automat. Contr. 34 (9), September, 1013-1017.
  • MARINO, R. and TOMEI, P. (1999) Nonlinear output feedback tracking with almost disturbance decoupling. IEEE Trans. Automat. Contr. 44 (1), January, 18-28.
  • NIJMEIJER, H. and VAN DER SCHAFT, A.J. (1990) Nonlinear Dynamical Control Systems. Springer Verlag, New York.
  • PEROZ, H., OGUNNAIKE, B. and DEVASIA, S. (2002) Output tracking between operating points for nonlinear processes: Van de Vusse example. IEEE Transaction on Control Systems Technology 10 (4), July, 611-617.
  • QIAN, C. and LIN, W. (2000) Almost disturbance decoupling for a class of high-order nonlinear systems. IEEE Trans. Automat. Contr. 45 (6), June, 1208-1214.
  • VAN DER SCHAFT, A.J. (1992) L2-gain analysis of nonlinear systems and nonlinear state feedback H∞ control. IEEE Trans. Automat. Contr. 37, June, 770-784.
  • SHEEN, J.J. and BISHOP, R.H. (1998) Adaptive nonlinear control of spacecraft. Proceedings of the American Control Conference, Baltimore. Maryland, June, 2867-2871.
  • SLOTINE, J.J.E. and LI, W. (1991) Applied Nonlinear Control. Prentice-Hall, New York.
  • SWAROOP, D., HEDRICK, J.K., YIP, P.P. and GERDES, J.C. (2000) Dynamic surface control for a class of nonlinear systems. IEEE Trans. Automat. Contr. 45 (10), 1893-1899.
  • WEILAND, S. and WILLEMS, J.C. (1989) Almost disturbance decoupling with internal stability. IEEE Trans. Automat. Contr. 34 (3), March, 277-286.
  • WILLEMS, J.C. (1982) Almost invariant subspace: An approach to high gain feedback design. Part I: Almost controlled invariant subspaces. IEEE Trans. Automat. Contr. AC-26 (1), 235-252.
  • YIP, P.P. and HEDRICK, J.K. (1998) Adaptive dynamic surface control: a simplified algorithm for adaptive backstepping control of nonlinear systems. International Journal of Control 71 (5), 959-979.
  • YOUNG, K.D. (1982) Disturbance decoupling by high-gain feedback. IEEE Transaction on Automatic Control AC-27, 970-971.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BAT5-0017-0046
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