シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2018/06
形態種別	学術論文
査読	査読あり
標題	Robust Tracking and Disturbance Rejection for Linear Uncertain System With Unknown State Delay and Disturbance
執筆形態	共著
掲載誌名	IEEE/ASME Transactions on Mechatronics
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	23(3),pp.1445-1455
担当範囲	All
著者・共著者	Pan Yu, Min Wu, Jinhua She, Kang-Zhi Liu, and Yosuke Nakanishi
概要	A robust tracking control method is presented in this paper for an uncertain plant with an unknown state delay and an exogenous disturbance. The effects of the uncertainties, the delay, and the exogenous disturbance are treated as a total disturbance; thus, the construction of the observer does not need the delay information. The system design is divided into the design of the gains of the state-feedback controller as well as the design of the gains of the observer and the improved equivalent-inputdisturbance (EID) estimator. The pole-assignment method is used to design the gains of the state-feedback controller of a simplified system. A robust-stability condition in the form of a linear matrix inequality is derived to determine the gains of the observer and the improved EID estimator. Since the devised Lyapunov functional is of a more general form than those in existing EID-based methods and the restrictive commutative condition is avoided in this design, the developed design method is less conservative. Finally, comparisons of the developed method with a sliding-mode control method for a matched disturbance and a conventional EIDbased method for an unmatched disturbance illustrate the validity and superiority of the developed method.
DOI	10.1109/TMECH.2018.2816005
外部リンクURL	https://ieeexplore.ieee.org/document/8316974/