Abstract
This paper investigates the coupled disturbance reconstruction, state estimation and trajectory tracking problems for a class of nonlinear systems. The sliding mode observer and the state feedback approaches are utilized to solve these problems. Considering only a partial of the system states are measured but the disturbances couple with time-varying parameters that the observer is designed by transforming the original system into a descriptor one. Hence, from the estimated values of system states and the decoupled disturbance, one can reconstruct the coupled disturbance. Upon these estimates, a state feedback based fault tolerant controller is designed such that the system states converge to the desired trajectory. Finally, to verify the validity of our scheme, a numerical simulation together with an experiment of 3-DOF robot are offered.
| Original language | English |
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| Title of host publication | Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3227-3232 |
| Number of pages | 6 |
| Volume | 2017-January |
| ISBN (Electronic) | 9781538611272 |
| DOIs | |
| Publication status | Published - 15 Dec 2017 |
| Event | 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China Duration: 29 Oct 2017 → 1 Nov 2017 |
Conference
| Conference | 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 |
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| Country/Territory | China |
| City | Beijing |
| Period | 29/10/2017 → 1/11/2017 |