By Dr. Sang Joo Kwon, Prof. Wan Kyun Chung (auth.)
ISBN-10: 3540220771
ISBN-13: 9783540220770
ISBN-10: 3540444173
ISBN-13: 9783540444176
This monograph investigates a pragmatic solution to in attaining strong movement keep an eye on and nation estimation (Kalman filtering) of mechanical structures, that's a promising technique by way of the perturbation compensator. The e-book provides novel methods for layout and research of perturbation observers in addition to an extension to strong movement keep an eye on and powerful country estimation. The ebook is written in a self-contained demeanour together with experimental ends up in each one bankruptcy truly validating the constructed theories.
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Additional resources for Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems
Example text
Only the position output may not be bounded. Also, the friction force gives positive effect to the system stability. t. the rotating coordinate system and their magnitudes are always bounded as far as y˙ ∈ L∞ . The other unmodeled dynamics such as high frequency resonance modes exist far beyond the servo bandwidth. Then, all the terms of the perturbation in Eq. 4) except external disturbances can be considered to be bounded in magnitude. 3) with the tracking controller μ(t) in Eq. 7). 17) as far as the tracking controller is given by Eq.
Prior to develop the HPC, we define the residual perturbation. T ra c k in g c o n tro l in p u t μ 46 A n ti-w in d u p m e ch a n ism u P la n t ψˆ f 444 R e fe re n c e G e n e ra to r yd Q3 Q2 ψˆ 2 u Q1 y u u u ψˆ1 FFPO ψˆ3 FBPO SMPO Fig. 5. Hierarchical perturbation compensator (HPC) with anti-windup p mechanism. 1 (Residual Perturbation). , the perturbation compensation error is defined as ψ˜1 (t) = ψ(t) − ψˆ1 (t) ψ2 (t). 22) The residual perturbation when applying the hierarchical sum of the FFPO (ψˆ1 ) and the FBPO (ψˆ2 ) of the HPC is ψ˜2 (t) = ψ(t) − ψˆ1 (t) − ψˆ2 (t) = ψ2 (t) − ψˆ2 (t) ψ3 (t).
44b) where δ 2 (•)(k) δ(•)(k) − δ(•)(k − 1) = (•)(k) − 2(•)(k − 1) + (•)(k − 2). Following the same procedure as in the above FBPO case to derive the Eq. 41), we have the following error dynamics for the HPC case. 45) where ηHP C (k) is given as ηHP C (k) = ηF B (k) − γηF B (k − 1) − Hn H −1 γδ 2 ψˆF F (k) = Hn H −1 ζ(k) − (1 + γ)ζ(k − 1) + γζ(k − 2) − γδ 2 ψˆF F (k) . 46) As shown, it is the function of ηF B (k) in Eq. 42) and ζ(k) in Eq. 39). 10 (Boundedness of the Compensation Error Due to the γ HPC).
Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems by Dr. Sang Joo Kwon, Prof. Wan Kyun Chung (auth.)
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