Abstract
In this paper, an internal-model-based controller (IMBC) is designed to reject an external signal generated by a class of infinite-dimensional systems for a class of nonlinear systems. First, a new description of the external signal is proposed. By this new description, the IMBC is designed, and the resulting closed-loop error dynamics are analyzed with the help of a Lyapunov-Krasovskii functional. Compared with existing IMBCs, the designed IMBC provides the flexibility to cope with more types of external signals as well as to choose controller parameters to achieve a tradeoff between rejection performance and stability. Finally, the method is applied to attitude control of a quadrotor aircraft. Effectiveness of the IMBC is demonstrated by simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 400-412 |
| Number of pages | 13 |
| Journal | International Journal of Adaptive Control and Signal Processing |
| Volume | 27 |
| Issue number | 5 |
| DOIs | |
| State | Published - May 2013 |
Keywords
- infinite-dimensional systems
- internal model
- nonlinear systems
- rejection
- repetitive control
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