Discrete-time output feedback nonlinear control for combined low-and high-frequency disturbance compensation
- Authors
- Kim, Wonhee; Chen, Xu; Chung, Chung Choo; Tomizuka, Masayoshi
- Issue Date
- Jul-2015
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- Proceedings of the American Control Conference, v.2015-July, pp.5495 - 5501
- Indexed
- SCOPUS
- Journal Title
- Proceedings of the American Control Conference
- Volume
- 2015-July
- Start Page
- 5495
- End Page
- 5501
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/143439
- DOI
- 10.1109/ACC.2015.7172199
- ISSN
- 0743-1619
- Abstract
- We present a discrete-time output feedback nonlinear control algorithm for reference tracking under both broad-band disturbances at low frequencies and narrow-band disturbances at high frequencies. A discrete-time nonlinear damping backstepping controller with an extended state observer is proposed to track the desired output and to compensate for low-frequency broad-band disturbances. A narrow-band disturbance observer is constructed for rejecting narrow-band high-frequency disturbances. This combination method gives us the merit that both broad-band disturbances at low frequencies and narrow-band disturbances at high frequencies can be simultaneously compensated.
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