论文标题
线性系统的强大输出调节受模型和未建模的不确定性的影响
Robust output regulation of linear system subject to modeled and unmodeled uncertainty
论文作者
论文摘要
在本文中，提出了一个新颖的强大输出调节控制框架，以限制噪声，建模干扰和未建模的干扰，以同时寻求跟踪性能和鲁棒性。输出调节方案在框架中用于在存在建模干扰的情况下跟踪参考，并且未模块化的干扰的效果通过$ \ Mathcal {H} _ \ Infty $补偿器降低。卡尔曼过滤器还可以在稳定环中引入以处理白噪声。此外，估计存在/不存在噪声和干扰的情况下的跟踪误差。在数值示例中，通过应用于Furuta倒置的摆系统来验证我们所提出的控制框架的有效性和性能。
In this paper, a novel robust output regulation control framework is proposed for the system subject to noise, modeled disturbance and unmodeled disturbance to seek tracking performance and robustness simultaneously. The output regulation scheme is utilized in the framework to track the reference in the presence of modeled disturbance, and the effect of unmodeled disturbance is reduced by an $\mathcal{H}_\infty$ compensator. The Kalman filter can be also introduced in the stabilization loop to deal with the white noise. Furthermore, the tracking error in the presence/absence of noise and disturbance is estimated. The effectiveness and performance of our proposed control framework is verified in the numerical example by applying in the Furuta Inverted Pendulum system.
