Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection
Abstract
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints.
Keywords
Cite
@article{arxiv.2005.07639,
title = {Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection},
author = {Dmitrii Dobriborsci and Sergey Kolyubin and Alexey Bobtsov},
journal= {arXiv preprint arXiv:2005.07639},
year = {2020}
}
Comments
11 pages, 11 figures, extended version of the paper accepted for IFAC WC 2020