Abstract
This work presents a novel approach to extend the operational range of linear controllers designed for nonlinear systems using its linearized model. The higher order terms assumed to be negligible in linearization are estimated using Extended State Observer and compensated by augmenting the linear controller. Extended State Observer is an integrated state and disturbance estimator. Illustrative example of a planar pendulum is presented to demonstrate the efficacy of the approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sharma, M., Calise, A.J.: Neural Network Augmentation of Existing Linear Controllers. Journal of Guidance, Control and Dynamics 28(1) (January-February 2005)
Campa, G., Sharma, M., Calise, A.J.: Neural Network Augmentation of Existing Linear Controllers With Application to Underwater Vehicles. In: Proc. of the American Control Conference, Chicago, Illinois, pp. 75–79 (June 2000)
Ogata, K.: Modern Control Engineering, 4th edn. PHI Learning Pvt. Ltd., New Delhi (2009)
Youcef-Toumi, K., Ito, O.: A Time Delay Controller for Systems with Unknown Dynamics. Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control 112(1), 133–142 (1990)
Zhong, Q.C., Rees, D.: Control Of Uncertain LTI Systems Based On an Un certainty and Disturbance Estimator. Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control 126(4), 905–910 (1990)
Chen, W.: Nonlinear Disturbance Observer Enhanced Dynamic Inversion Control of Missiles. Journal of Guidance, Control, and Dynamics 26(1), 161–166 (2003)
Wang, W., Gao, Z.: A Comparison Study of Advanced State Observer Techniques. In: Proc. of the American Control Conference, Denver, Colorado, USA, pp. 4754–4759 (2003)
Godbole, A.A., Talole, S.E.: Robust Feedback Linearization Approach to Pitch Autopilot Design. In: International Conference On Control, Robotics and Cybernetics, New Delhi, India, vol. VI, pp. 76–80 (2011)
Talole, S.E., Godbole, A.A., Kolhe, J.P., Phadke, S.B.: Robust Roll Autopilot Design for Tactical Missiles. Journal of Guidance, Control and Dynamics 34(1) (January-February 2011)
Talole, S.E., Kolhe, J.P., Phadke, S.B.: Extended State Observer Based Control of Flexible-Joint System with Experimental Validation. IEEE Transactions on Industrial Electronics 57(4), 1411–1419 (2010)
Huang, Y., Xu, K., Han, J., Lam, J.: Flight Control Design Using Extended State Observer and Non-smooth Feedback. In: Proc. of the 40th IEEE Conference on Decision and Control, Orlando, Florida, USA, pp. 223–228 (December 2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Godbole, A.A., Talole, S.E. (2011). Extending the Operating Range of Linear Controller by Means of ESO. In: Das, V.V., Thankachan, N. (eds) Computational Intelligence and Information Technology. CIIT 2011. Communications in Computer and Information Science, vol 250. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25734-6_7
Download citation
DOI: https://doi.org/10.1007/978-3-642-25734-6_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25733-9
Online ISBN: 978-3-642-25734-6
eBook Packages: Computer ScienceComputer Science (R0)