상세정보
학술지
State-dependent Periodic Adaptive Disturbance Compensation
- 저자
- 안효성, Y.Q. Chen
- 발행일
- 200707
- 출처
- IET Control Theory & Applications, v.1 no.4, pp.1008-1014
- ISSN
- 1751-8644
- 출판사
- IET
- 협약과제
- 07MI1300, USN 기반 Ubiquitous Robotic Space 기술 개발, 유원필
- 초록
- The state-dependent nonlinear external disturbance compensation problem is considered. No prior information about the disturbance is assumed except the periodicity of the disturbance with respect to a state variable, which is termed a 'state-dependent periodic disturbance.' The key idea of the proposed new adaptive compensation method is to make use of this known state-dependent periodicity. In the first period, an adaptive compensator is designed to guarantee the L2-stability of the overall system. From the second period and onwards, a state-periodic adaptive compensator is designed to stabilise the system by using the information stored in the previous period. The Lyapunov stability analysis is performed on the evolution along the trajectory axis. The validity of the proposed state-periodic adaptive control method is illustrated through a simulation example. © The Institution of Engineering and Technology 2007.
- KSP 제안 키워드
- Adaptive compensation, Adaptive disturbance compensation, Compensation method, Lyapunov Stability Analysis, Overall system, Simulation example, State variables, adaptive control, control method, external disturbances, periodic disturbance