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http://dx.doi.org/10.5302/J.ICROS.2016.16.0031

Robust Tracking of Constrained Uncertain Linear Systems using a High-gain Disturbance Observer  

Yoon, Mun Chae (Department of Electrical Engineering, Korea University)
Kim, Jung-Su (Dept. of EIE, Seoul National University of Science and Technology)
Back, Juhoon (School of Robotics, Kwangwoon University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.6, 2016 , pp. 397-402 More about this Journal
Abstract
This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.
Keywords
uncertain system; disturbance observer; LMI (Linear Matrix Inequality); state feedback control;
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Times Cited By KSCI : 1  (Citation Analysis)
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