Perturbation compensator based robust tracking control and state estimation of mechanical systems.

MaRDI QIDQ1887359zbMATH OpenFDO

Authors SangJoo Kwon, Wan Kyun Chung

Publication date 25 November 2004

Published in Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

zbMATH Keywords

sensitivitystabilityKalman filteringactuator saturationPontryagin's minimum principlerobust performancestate estimationfeedback controllerLuenberger observer\(Q\)-filterrobust motion controlrobust tracking controllow pass filterrobust state estimationdiscrete-time designperturbation observersadaptive friction compensatorcontrol of coarse/fine dual-stage positioning systemdecoupling control approachfine trajectory trackinghierarchical perturbation compensationhierarchical perturbation compensatormechanical systems controlmicro-teleoperationmultiloop perturbation compensatorsliding mode perturbation observer

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Sensitivity (robustness) (93B35) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Control of mechanical systems (70Q05) Observability (93B07) Variable structure systems (93B12) Design techniques (robust design, computer-aided design, etc.) (93B51) Perturbations in control/observation systems (93C73) Estimation and detection in stochastic control theory (93E10) Problems involving a system of particles with friction (70F40) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02)

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Cited in

(4)

• Data-driven robust tracking control of underactuated mechanical systems using identified flat output and active disturbance rejection control
• A case study on the universal compensation-improvement mechanism: a robust PID filter-shaped optimal PI tracker for systems with/without disturbances
• Disturbance estimation for robotic systems using continuous integral sliding mode observer
• Nonlinear Kalman filtering for force-controlled robot tasks.

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