Hierarchical Composite Anti-Disturbance Control for Robotic Systems Using Robust Disturbance Observer
Hierarchical Composite Anti-Disturbance Control for Robotic Systems Using Robust Disturbance Observer
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DOI：
10.1007/978-1-84996-329-9_11
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Lei Guo;Xinyu Wen;Xin Xin-Xin
中科院分区：
文献类型：
--
作者：
Lei Guo;Xinyu Wen;Xin Xin-Xin
A new anti-disturbance control strategy is presented for a class of nonlinear robotic systems with multiple disturbances. This strategy is named hierarchical composite anti-disturbance control (HCADC). Two types of disturbances are studied. One is generated by an exogenous system with uncertainty and the other is described by an uncertain vector with the boundedH2norm. The hierarchical control strategy is established which includes a disturbance observer based controller (DOBC) and anH∞controller, where DOBC is used to reject the first type of disturbance andH∞controller is used to attenuate the second. Stability analysis for both the error estimation systems and the composite closed-loop system is provided. Simulations for a two-link manipulator system show that the desired disturbance attenuation and rejection performances can be guaranteed.
