Title :
Nonlinear Uncertain Servomechanism Tracking using an Integral Observer
Author :
Garrido, Rubén ; Flores, Ernesto
Author_Institution :
CINVESTAV-IPN, Mexico City
Abstract :
The problem of tracking in a second order nonlinear uncertain servo is addressed. A proportional-derivative (PD) controller with uncertainty and feedforward compensation is proposed. Such a controller employs estimates obtained from an integral observer. Stability analysis in a Lyapunov sense for the closed-loop system is performed. Experiments are carried out on a laboratory prototype to validate the proposed approach.
Keywords :
Lyapunov methods; PD control; closed loop systems; compensation; feedforward; nonlinear control systems; observers; servomechanisms; stability; tracking; uncertain systems; Lyapunov method; closed-loop system; feedforward compensation; integral observer; nonlinear uncertain servomechanism tracking; proportional-derivative controller; second order nonlinear uncertain servo; stability analysis; Attenuation measurement; Control systems; Gain measurement; Lyapunov method; Mechanical systems; Noise measurement; Observers; Servomechanisms; Stability analysis; Uncertainty; Integral observer; Lyapunov stability; Nonlinear Servomechanism; Real-time system; Uncertainty estimation;
Conference_Titel :
Electrical and Electronics Engineering, 2007. ICEEE 2007. 4th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4244-1166-5
Electronic_ISBN :
978-1-4244-1166-5
DOI :
10.1109/ICEEE.2007.4345019
