State and Disturbance Observer for Robust Motion Control

Ashitosh D. Chavan, Aniket D. Gundecha, Kaliprasad A. Mahapatro, Prasheel V. Suryawanshi
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引用次数: 1

Abstract

The paper proposes a combination of sliding mode control (SMC) strategy with state and disturbance observer (SDO) technique. In most of the applications all the states of the plant are not available for measurement. In that case SDO is used to estimate the plant states along with matched as well as mismatched uncertainties. The estimates of SDO is used in proposed control law to improve the output tracking. The proposed control can effectively regulate the motor speed, even in the presence of uncertainties and disturbances. Disturbance observer (DO) can estimate the matched as well as mismatched uncertainties in the plant. The proposed control is validated experimentally on DC Motor setup with MATLAB-Simulink.
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鲁棒运动控制的状态和扰动观测器
本文提出了滑模控制(SMC)与状态与扰动观测器(SDO)技术相结合的控制策略。在大多数应用中,装置的所有状态都无法测量。在这种情况下,SDO用于估计工厂状态以及匹配和不匹配的不确定性。在所提出的控制律中,利用SDO的估计来改善输出跟踪。所提出的控制可以有效地调节电机的速度,即使存在不确定性和干扰。扰动观测器(DO)可以估计对象的匹配不确定性和不匹配不确定性。利用MATLAB-Simulink在直流电机上进行了实验验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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