Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Tracking of Constrained Uncertain Linear Systems using a High-gain Disturbance Observer

고이득 외란 관측기에 기반한 입력 제약 조건이 있는 불확실한 선형 시스템의 강인 추종 제어

  • Yoon, Mun Chae (Department of Electrical Engineering, Korea University) ;
  • Kim, Jung-Su (Dept. of EIE, Seoul National University of Science and Technology) ;
  • Back, Juhoon (School of Robotics, Kwangwoon University)
  • 윤문채 (고려대학교 전기전자공학부) ;
  • 김정수 (서울과학기술대학교 전기정보공학과) ;
  • 백주훈 (광운대학교 로봇학부)
  • Received : 2016.02.10
  • Accepted : 2016.03.28
  • Published : 2016.06.01
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Abstract

This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.

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References

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