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Medientyp:
E-Artikel
Titel:
An Observer-Backstepping Robust Controller Design Method
Beteiligte:
Li, Zhen;
Chen, Xin
Erschienen:
IOP Publishing, 2019
Erschienen in:
IOP Conference Series: Materials Science and Engineering, 563 (2019) 4, Seite 042078
Sprache:
Nicht zu entscheiden
DOI:
10.1088/1757-899x/563/4/042078
ISSN:
1757-8981;
1757-899X
Entstehung:
Anmerkungen:
Beschreibung:
Abstract Unmodeled dynamics and external disturbances are the main factors affecting system performance. In this paper, a robust design method based on backstepping control and observer is proposed to overcome the problem of the system unmodeled parts and external disturbances. To improve the performance, the controller uses adaptive function to eliminate the effect of the unmodeled dynamics. For the external disturbances, this paper using observer to accurately estimated and effectively compensated. The simulation results show that the controller designed in this paper has good performance and can accurately response the input commands in the case of the unmodeled part of the system and the external disturbance.