TY - GEN
T1 - K-filter observer based optimal robust guarantee cost control for uncertain nonlinear servo system with immeasurable states
AU - Wang, Minlin
AU - Dong, Xueming
AU - Ren, Xuemei
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - In this paper, a K-filter observer based optimal robust guarantee cost controller is proposed for uncertain nonlinear servo system with immeasurable states to achieve the precision load tracking. By using a K-filter observer to estimate both the system states and the nonlinearities, an adaptive dynamic surface control is designed to make the system output track a given reference command. However, since the parameter uncertainties may influence the system tracking performance, an optimal robust guarantee cost control is developed to combine with the adaptive dynamic surface control to stabilize the uncertain system and guarantee the system cost function less than or equal to a given upper bound. The Lyapunov theory proves the stability of the closed-loop control system. Simulation results based on a servo system are conducted to illustrate the efficiency of the proposed control scheme.
AB - In this paper, a K-filter observer based optimal robust guarantee cost controller is proposed for uncertain nonlinear servo system with immeasurable states to achieve the precision load tracking. By using a K-filter observer to estimate both the system states and the nonlinearities, an adaptive dynamic surface control is designed to make the system output track a given reference command. However, since the parameter uncertainties may influence the system tracking performance, an optimal robust guarantee cost control is developed to combine with the adaptive dynamic surface control to stabilize the uncertain system and guarantee the system cost function less than or equal to a given upper bound. The Lyapunov theory proves the stability of the closed-loop control system. Simulation results based on a servo system are conducted to illustrate the efficiency of the proposed control scheme.
KW - Adaptive dynamic surface control
KW - K-filter observer
KW - Optimal robust guarantee cost control
KW - Uncertain nonlinear servo system
UR - http://www.scopus.com/inward/record.url?scp=85076417596&partnerID=8YFLogxK
U2 - 10.1109/DDCLS.2019.8908890
DO - 10.1109/DDCLS.2019.8908890
M3 - Conference contribution
AN - SCOPUS:85076417596
T3 - Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019
SP - 420
EP - 425
BT - Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019
Y2 - 24 May 2019 through 27 May 2019
ER -