Harmonic Disturbance Rejection in Tracking Control of Euler-Lagrange Systems: An External Model Approach
Harmonic Disturbance Rejection in Tracking Control of Euler-Lagrange Systems: An External Model Approach
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DOI：
10.1109/tcst.2006.883335
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发表时间：
2007
影响因子：
4.8
通讯作者：
Garo Zarikian;A. Serrani
中科院分区：
文献类型：
--
作者：
Garo Zarikian;A. Serrani
研究了受不可测谐波干扰影响的Euler-Lagrange系统的跟踪控制器的系统设计问题。本文所讨论的问题不同于调节器问题的经典设置，其求解是基于两个方面的内模原理。首先，考虑了影响植物产量测量的外部干扰的存在。其次，我们的目标是使用标准技术设计标称跟踪控制器，该控制器独立于用于提供渐近抑制干扰的装置。然后将后者加到稳定回路中，这样在温和的条件下保证了扰动的渐近消除。所讨论的设备被称为外生系统的外部模型，以强调与经典的基于内部模型的设计的背离。外部模型具有自适应机制，使其也能够处理外部信号频率上的不确定性。为了验证我们的方法，我们提供了一个两自由度直升机模型的实验结果
We consider the systematic design of tracking controllers for Euler-Lagrange systems which are affected by unmeasurable harmonic disturbances. The problem addressed in this paper departs from the classic setup of the regulator problem and its solution is based on the internal model principle in two aspects. First, the presence of an exogenous disturbance affecting the measurements of the plant output is taken into account. Second, we aim at designing a nominal tracking controller using standard techniques, independently of the device that is used to provide asymptotic rejection of the disturbance. The latter is then added to the stable loop, in such a way that asymptotic cancellation of the disturbance is guaranteed under mild conditions. The device in question is referred to as an external model of the exogenous system, to emphasize the departure from the classic internal model-based design. The external model is endowed with an adaptation mechanism that allows it to deal with uncertainties on the frequencies of the exogenous signals as well. To validate our approach, we provide experimental results for a two-degrees-of-freedom (2-DOF) helicopter model