Search results for "Disturbance observer"

showing 3 items of 3 documents

Disturbance observer-based disturbance attenuation control for a class of stochastic systems

2016

This paper studies a class of stochastic systems with multiple disturbances which include the disturbance with partially-known information and the white noise. A disturbance observer is constructed to estimate the disturbance with partially-known information, based on which, a disturbance observer-based disturbance attenuation control (DOBDAC) scheme is proposed by combining pole placement and linear matrix inequality (LMI) methods.

0209 industrial biotechnologyDisturbance (geology)Computer scienceAttenuation020208 electrical & electronic engineeringControl (management)Disturbance observer-based disturbance attenuation controlStochastic systemLinear matrix inequalityDisturbance observer-based disturbance attenuation control; Multiple disturbances; Stochastic system; Control and Systems Engineering; Electrical and Electronic Engineering02 engineering and technologyWhite noiseClass (biology)020901 industrial engineering & automationControl and Systems EngineeringControl theoryFull state feedbackDisturbance observer0202 electrical engineering electronic engineering information engineeringElectrical and Electronic EngineeringMultiple disturbancesAutomatica
researchProduct

Wind gust estimation for precise quasi-hovering control of quadrotor aircraft

2021

Abstract This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind its…

QuadcopterUnknown Input-state observersOffset (computer science)Observer (quantum physics)Computer scienceRotor (electric)Applied MathematicsRobust controlRoboticsROS/GazeboComputer Science Applicationslaw.inventionCompensation (engineering)Tracking errorQuadrotorsControl and Systems EngineeringControl theoryPosition (vector)Filter (video)lawDisturbance observersElectrical and Electronic EngineeringDisturbance observers; Quadrotors; Robotics; Robust control; ROS/Gazebo; Unknown Input-state observers
researchProduct

Robust Control of Nonlinear Systems: An Unknown Input Observer Based Approach

2023

Questa tesi propone un controllore robusto per sistemi non lineari tramite l'utilizzo di un osservatore ad ingressi sconosciuti. Attraverso un'opportuna riformulazione dinamica del modello, un generico sistema non lineare viene descritto come la somma di due funzioni, la prima lineare e nota e la seconda altamente non lineare e sconosciuta, derivante dalla conoscenza imperfetta del modello dinamico, dei parametri, o di eventuali disturbi esogeni agenti sul sistema etc., modellabili come perturbazioni (disturbi) della funzione lineare. Questa semplificazione consente una vantaggiosa descrizione dinamica del sistema in forma matriciale. Le informazioni necessarie sono stimate attraverso l'uti…

Robust Control Nonlinear Control State Observer Disturbance Observer Flexible Robotics Compliance and Impedance Control self-driving carSettore ING-INF/04 - Automatica
researchProduct