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arXiv · 2005.07639

Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection

Dmitrii Dobriborsci·Sergey Kolyubin·Alexey Bobtsov
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Abstract

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints.

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Dmitrii Dobriborsci, Sergey Kolyubin, Alexey Bobtsov. 2020-05-15. Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection. https://arxiv.org/abs/2005.07639

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