scholarly journals Event-triggered equivalent-input-disturbance estimation and control for disturbance attenuation

2021 ◽  
Vol 16 ◽  
pp. 100137
Author(s):  
Guoqi Ma ◽  
Prabhakar R. Pagilla
Keyword(s):  
Disturbance Attenuation ◽  
Disturbance Estimation ◽  
Input Disturbance ◽  
Equivalent Input Disturbance ◽  
Estimation And Control ◽  
And Control ◽  
Event Triggered

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

Compensation of Input Disturbance in EPS System Using Sliding Mode Observer

2011 ◽  
Vol 110-116 ◽  
pp. 4992-5000
Author(s):  
Byeongjeom Son ◽  
Gwangmin Park ◽  
Daehyun Kum ◽  
Seonghun Lee
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Reaction Force ◽  
Sliding Mode Observer ◽  
Disturbance Compensation ◽  
Electric Power Steering ◽  
Input Disturbance ◽  
Power Steering ◽  
Estimation And Control ◽  
And Control

Electric power steering is developed to reduce effort by providing steering assist to the driver of a vehicle. In recent years, a research regarding returnability is performed in order to improve driver's steering feeling. Returnability is affected to friction force in EPS system and reaction force through tire and rack. Usually in the EPS system, friction and Reaction force are uncertain components which are hard to measure. This paper introduces both estimation using sliding mode observer and control algorithm using input disturbance compensation for returnability of EPS system. And simulation confirms the results of the estimation and control algorithm.

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