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Disturbance Observer-Based Control of Master and Slave Systems with Input Saturation
Automatic Control and Computer Sciences Pub Date : 2020-03-26 , DOI: 10.3103/s0146411620010095 P. Rasouli , A. Forouzantabar , M. Moattari , M. Azadi
中文翻译:
具有输入饱和的基于扰动观测器的主从系统控制
更新日期:2020-03-26
Automatic Control and Computer Sciences Pub Date : 2020-03-26 , DOI: 10.3103/s0146411620010095 P. Rasouli , A. Forouzantabar , M. Moattari , M. Azadi
Abstract
Stability and transparency are the primary aims in the control nonlinear master and slave systems. Ignoring input saturation and disturbances like dynamic uncertainties may result in performance depression and instability of the system. This paper proposes a nonlinear controller to guarantee the stability and to ameliorate the adverse effects of disturbances, time delays and input saturation on a master and slave system. First, a disturbance observer is developed without requiring acceleration measurements. Then, a disturbance observer-based control law is proposed for the case of input saturation to suppress the problems caused by saturation. The proposed controller can prevent the actuators to work beyond their capabilities and also, effectively handles abnormal situations. The Lyapunov-based analysis shows the ultimately boundedness of the closed-loop signals. Finally, simulations are given to validate the results.中文翻译:
具有输入饱和的基于扰动观测器的主从系统控制