TY - JOUR
T1 - Output feedback trajectory stabilization of the uncertainty DC servomechanism system
AU - Aguilar-Ibañez, Carlos
AU - Garrido-Moctezuma, Ruben
AU - Davila, Jorge
PY - 2012/11
Y1 - 2012/11
N2 - This work proposes a solution for the output feedback trajectory-tracking problem in the case of an uncertain DC servomechanism system. The system consists of a pendulum actuated by a DC motor and subject to a time-varying bounded disturbance. The control law consists of a Proportional Derivative controller and an uncertain estimator that allows compensating the effects of the unknown bounded perturbation. Because the motor velocity state is not available from measurements, a second-order sliding-mode observer permits the estimation of this variable in finite time. This last feature allows applying the Separation Principle. The convergence analysis is carried out by means of the Lyapunov method. Results obtained from numerical simulations and experiments in a laboratory prototype show the performance of the closed loop system.
AB - This work proposes a solution for the output feedback trajectory-tracking problem in the case of an uncertain DC servomechanism system. The system consists of a pendulum actuated by a DC motor and subject to a time-varying bounded disturbance. The control law consists of a Proportional Derivative controller and an uncertain estimator that allows compensating the effects of the unknown bounded perturbation. Because the motor velocity state is not available from measurements, a second-order sliding-mode observer permits the estimation of this variable in finite time. This last feature allows applying the Separation Principle. The convergence analysis is carried out by means of the Lyapunov method. Results obtained from numerical simulations and experiments in a laboratory prototype show the performance of the closed loop system.
KW - Finite time observer
KW - PD controller
KW - Servomechanism
KW - Variable structure control
UR - http://www.scopus.com/inward/record.url?scp=84866350283&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2012.06.015
DO - 10.1016/j.isatra.2012.06.015
M3 - Artículo
C2 - 22884179
SN - 0019-0578
VL - 51
SP - 801
EP - 807
JO - ISA Transactions
JF - ISA Transactions
IS - 6
ER -