Robust Control Synthesis for Mechatronic Systems Using Observers

In the mechatronic systems design, one of the major problems is the control law synthesis in the conditions of incomplete information about plant and external disturbances. In this paper, the problem of generalized external influences estimation by observers is considered. Generalized external influ...

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Bibliographic Details
Main Authors: Garkushenko, Vladimir I., Spiridonov, Igor O., Fayzutdinov, Rustem N.
Format: Conference Proceeding
Language:English
Subjects:
Delays
disturbance
Linear matrix inequalities
Mathematical model
mechatronic system
Mechatronics
observer
Observers
robust control
Uncertainty
Online Access:Request full text
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Summary:In the mechatronic systems design, one of the major problems is the control law synthesis in the conditions of incomplete information about plant and external disturbances. In this paper, the problem of generalized external influences estimation by observers is considered. Generalized external influences consist of external disturbances and parametric uncerainties. The obtained disturbance estimates are used in the control law to improve the accuracy of system stabilization. This approach was tested in the synthesis problem of video camera image stabilization system mounted on the mobile carrier in a gimbal.
ISSN:2161-1351
DOI:10.1109/DeSE.2019.00130