DocumentCode :
183632
Title :
Reference control architecture in the presence of measurement noise and actuator dynamics
Author :
De La Torre, Gerardo ; Yucelen, Tansel ; Johnson, Eric
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fYear :
2014
fDate :
4-6 June 2014
Firstpage :
4961
Lastpage :
4966
Abstract :
In this paper the command governor-based model reference control architecture is developed and analyzed for uncertain dynamical systems in the presence measurement noise and actuator dynamics. Specifically, the command governor is a dynamical system that adjusts the trajectory of a given command in order to enable an uncertain system to be able to follow an ideal reference system capturing a desired closed-loop dynamical system behavior both in transient-time and steady-state. In this paper, we present modifications to the original command governor approach in order to increase its robustness properties against measurement noise and actuator dynamics. In particular, the modified architecture is shown to retain closed-loop system stability and predictable transient and steady-state performance. Illustrative numerical results are found to verify the theoretical findings.
Keywords :
actuators; closed loop systems; measurement errors; model reference adaptive control systems; stability; trajectory control; transient analysis; uncertain systems; actuator dynamics; closed loop dynamical system; closed loop system stability; command governor-based model reference control architecture; predictable transient performance; presence measurement noise; steady-state performance; trajectory adjustment; transient time; uncertain dynamical system; Actuators; Noise; Noise measurement; Stability analysis; Transfer functions; Uncertainty; Vectors; Robust control; Stability of linear systems; Uncertain systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2014
Conference_Location :
Portland, OR
ISSN :
0743-1619
Print_ISBN :
978-1-4799-3272-6
Type :
conf
DOI :
10.1109/ACC.2014.6858669
Filename :
6858669
Link To Document :
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