This paper introduces a new disturbance estimation scheme, and a possible application to relative output stabilization of multiple systems. Using the proposed disturbance estimation scheme, total unknown external disturbance applied to a plant is estimated and compensated. Moreover, the model difference between an actual system and a desired system is also estimated and compensated. For the purpose of general use of the disturbance estimation scheme as an unknown input observer (UIO), a parameterized design method is given, even for the unstable and nonminimum phase systems. For the relative output stabilization of multiple systems, second-order consensus algorithm is additionally used. A case study, simulations, and experimental tests sequentially validate the proposed estimation and control methods.
Disturbance Estimation, Compensation, and Dynamic Shaping: New Approach and an Application to Output Stabilization of Multiple Cooperative Control
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 3, 2013; final manuscript received June 1, 2014; published online August 28, 2014. Assoc. Editor: Prashant Mehta.
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Lee, S., Jeong, K., and Ahn, H. (August 28, 2014). "Disturbance Estimation, Compensation, and Dynamic Shaping: New Approach and an Application to Output Stabilization of Multiple Cooperative Control." ASME. J. Dyn. Sys., Meas., Control. January 2015; 137(1): 011008. https://doi.org/10.1115/1.4027951
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