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Integral‐type‐observer‐based control with measurement uncertainty and application to two‐wheeled inverted pendulum
Author(s) -
Liang Song,
Wang Zaihua
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5405
Subject(s) - control theory (sociology) , observer (physics) , inverted pendulum , linearization , controller (irrigation) , mathematics , computer science , control (management) , nonlinear system , artificial intelligence , physics , quantum mechanics , agronomy , biology
To overcome the deficiencies of traditional disturbance observers in the presence of measurement uncertainty, an integral‐type observer‐based control using measured signals is proposed. The integral‐type observer is in terms of an explicit integral‐algebra form of measured signals. As a combination of the integral‐type observer and high‐gain controller, the observer‐based control is a proportional‐integral‐derivative control with special combination of parameters for feedback linearization, simple in structure and easy in implementation. Without the observer, the high‐gain controller alone may not have good control performance, but the proposed observer‐based control works very well in stabilizing the system even when the observer performance is not good enough, due to the use of the high‐gain control. The main results are applied to the control of a two‐wheeled inverted pendulum.