An iterative algorithm of adaptive output control with complete compensation for unknown sinusoidal disturbance

Bobtsov, Alexey A.; Kolyubin, Sergey A.; Kremlev, Artem; Pyrkin, Anton A.

doi:10.1134/s0005117912080061

Cited by 34 publications

(5 citation statements)

References 23 publications

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“…Let us consider the output adaptive controller with modification for the input harmonic disturbance rejection introduced in [15]…”

Section: Output Controller Designmentioning

confidence: 99%

Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection

Dobriborsci¹,

Kolyubin²,

Bobtsov³

2020

Preprint

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We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints. This research is devoted to the output-feedback control of linear parametrically uncertain plants under unmeasured matching input harmonic disturbances. The paper presents a novel switching control algorithm that combines a passification-based output controller with a finite-time harmonic disturbance parameters estimation algorithm that

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“…Let us consider the output adaptive controller with modification for the input harmonic disturbance rejection introduced in [15]…”

Section: Output Controller Designmentioning

confidence: 99%

Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection

Dobriborsci¹,

Kolyubin²,

Bobtsov³

2020

Preprint

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“…A similar approach is pursuit in [13], where the analysis is restricted to minimum-phase systems of known relative degree, unaffected by measurement noise. Furthermore, in the cited reference no formal proof of convergence of the switching mecahnism is offered, apart from heuristic arguments.…”

Section: Introduction and Problem Formulationmentioning

confidence: 99%

Switching-based Rejection of an Unknown Harmonic Disturbance in Uncertain Stable Linear Systems under Measurement Noise

Wang¹,

Pin²,

Serrani³

et al. 2019

2019 American Control Conference (ACC)

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We consider the problem of rejection of a sinusoidal disturbance of unknown frequency, phase and magnitude acting on an uncertain internally stable SISO linear system. We present a solution that extends our previous work on adaptive feedforward control of uncertain systems by disposing of the need to know the frequency of the harmonic disturbance. The proposed methodology reposes upon a switching-based combination of an adaptive feedforward control algorithm and a deadbeat frequency estimator. The method accounts for the presence of bounded sensor noise as well as imprecise frequency estimation; it is shown that the regulation error is bounded by a function of the norm of the noise that depends on the choice of the controller and the estimator gains.

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“…It is also assumed that the plant model is stable and this property could be the result of a robust control design that is already incorporated in the system under consideration. The problem of disturbance rejection and adaptive regulation as defined above has been previously addressed in a number of papers ([3], [1], [7], [10], [11], [21], [16], [15], [6], [8], [2], [5]) among others. More recent references on the subject are [25], [17].…”

Section: Introductionmentioning

confidence: 99%

“…Several solutions have been proposed and the most successful has been based on the appropriate choice of the desired closed loop poles to be achieved by the Youla-Kučera central controller and by using an adjustable Q-FIR filter with the minimum number of parameters [4]. Recently in [13] it was suggested that over parametrization of the Q (FIR) filter can enhance the robustness of the linear and adaptive scheme in the vicinity of plant complex zeros 2 .…”

Section: Introductionmentioning

confidence: 99%

Robust Direct Adaptive Regulation of Unknown Disturbances in the Vicinity of Low-Damped Complex Zeros--Application to AVC

Silva

Landau

Ioannou

2015

IEEE Trans. Contr. Syst. Technol.

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Adaptive feedback control approaches have been widely used to address the issue of rejecting multiple narrow band disturbances with unknown and time varying characteristics (frequency, phase and amplitude), in Active Vibration Control (AVC) and Active Noise Control (ANC). These approaches are based directly or indirectly on the use of the Internal Model Principle and the Youla-Kučera parametrization combined with an adaptive law. All the algorithms associated with these approaches make the assumption that the plant zeros are different from the poles of the disturbance model in order to achieve disturbance compensation. However in practice the problem is more intricate since it is not clear what happens if the plant has very low damped complex zeros (often encountered in mechanical structures) and the frequency of the disturbance is close to the anti-resonance frequency (the resonance frequency of the plant zeros). In this paper we evaluate comparatively in simulation and in real time on a benchmark test bed, two different approaches to deal with the low damped complex zeros of the plant. An evaluation of the combination of the two approaches is also presented.

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An iterative algorithm of adaptive output control with complete compensation for unknown sinusoidal disturbance

Cited by 34 publications

References 23 publications

Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection

Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection

Switching-based Rejection of an Unknown Harmonic Disturbance in Uncertain Stable Linear Systems under Measurement Noise

Robust Direct Adaptive Regulation of Unknown Disturbances in the Vicinity of Low-Damped Complex Zeros--Application to AVC

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