Output feedback tracking control of stochastic Lagrangian systems and its application

Output feedback tracking control of stochastic Lagrangian systems and its application
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DOI：
10.1016/j.automatica.2014.03.001
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发表时间：
2014-05
期刊：
Autom.
影响因子：
--
通讯作者：
Mingyue Cui;Zhaojing Wu;Xue‐Jun Xie
Mingyue Cui;Zhaojing Wu;Xue‐Jun Xie
中科院分区：
其他
文献类型：
--
作者：
Mingyue Cui;Zhaojing Wu;Xue‐Jun Xie

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本文主要研究速度不可测的随机拉格朗日系统的输出反馈跟踪控制问题。在一些较温和的假设下，利用拉格朗日系统的结构特性，巧妙地构建降阶观测器来估计速度。基于观测器，设计输出反馈跟踪控制器，通过调整设计参数，使跟踪误差的均方收敛到任意小的零邻域。控制器的效率由随机机械模型证明。
This paper focuses on the problem of output feedback tracking control for stochastic Lagrangian systems with the unmeasurable velocity. Under some milder assumptions, using the structural properties of Lagrangian systems, a reduced-order observer is skillfully constructed to estimate the velocity. Based on the observer, an output feedback tracking controller is designed such that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. The efficiency of the controller is demonstrated by a stochastic mechanical model.