High-order fully-actuated system approaches: Part VI. Disturbance attenuation and decoupling

Duan, Guangren1,2

2021-02-01

10.1080/00207721.2021.1879966

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE   影响因子和分区

0020-7721

1464-5319

Two types of high-order fully actuated (HOFA) system models subject to external disturbances are firstly introduced. For the type of HOFA systems with deterministic disturbances, the problem of disturbance attenuation via state feedback is treated. While for the type of HOFA systems with dynamical disturbances, the problem of asymptotic disturbance decoupling via output feedback is considered. Utilising the full-actuation feature of the HOFA systems, disturbance attenuation and decoupling controllers for the corresponding systems are conveniently designed such that constant linear closed-loop systems with designed disturbance rejection properties are resulted in. Parametric designs for both controllers are provided, and disturbance attenuation is achieved by establishing a parametric form of the closed-loop transfer function from the disturbance to the output, while the parametric form of the disturbance decoupling controller is derived based on a complete parametric solution to a type of generalised Sylvester equations (GSEs). As a consequence of the parameter approaches, additional performance requirements on the closed-loop systems can be also easily handled. An illustrative example demonstrates the effect of the proposed approach.

High-order fully actuated systems disturbance attenuation disturbance decoupling parametric solutions generalised Sylvester matrix equations

SCI ; EI

英语

通讯

Major Program of National Natural Science Foundation of China[61690210,61690212] ; National Natural Science Foundation of China[61333003] ; SelfPlanned Task of State Key Laboratory of Robotics and System (HIT)[SKLRS201716A]

Automation & Control Systems ; Computer Science ; Operations Research & Management Science

Automation & Control Systems ; Computer Science, Theory & Methods ; Operations Research & Management Science

WOS:000618680000001

TAYLOR & FRANCIS LTD

20210809954338

Controllers ; Disturbance rejection ; State feedback

Automatic Control Principles and Applications:731 ; Control Systems:731.1 ; Control Equipment:732.1 ; Systems Science:961

ENGINEERING

Web of Science

1.Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin, Peoples R China
2.Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen, Peoples R China

Duan, Guangren. High-order fully-actuated system approaches: Part VI. Disturbance attenuation and decoupling[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,2021,52:2161-2181.

Duan, Guangren.(2021).High-order fully-actuated system approaches: Part VI. Disturbance attenuation and decoupling.INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,52,2161-2181.

Duan, Guangren."High-order fully-actuated system approaches: Part VI. Disturbance attenuation and decoupling".INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 52(2021):2161-2181.