Discrete time minimax tracking control with disturbance estimation

Peter Bauer, Balazs Kulcsar, Jozsef Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper proposes an alternative way to solve robust reference tracking problem. Instead of rejecting the effect of the disturbance directly, an intermediate step is built into the state estimation problem. The advantage of the methodology is to elaborate a modified optimal state estimation problem taking the unbiased estimate of the disturbance into account. Henceforward, the solution of the discrete time, optimal LQ minimax tracking problem is modified and subjected to attenuate the disturbance residual. The paper addresses the nominal case for constant reference and disturbance signal showing the asymptotical stability and the tracking performance of the discrete time, optimal min-max control. Suboptimal solution is given for time varying reference and disturbance signal. A linearized hovering quadrotor example demonstrates the importance of the suggested technique.

Original languageEnglish
Title of host publication2009 European Control Conference, ECC 2009
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2658-2663
Number of pages6
ISBN (Electronic)9783952417393
DOIs
Publication statusPublished - Mar 26 2014
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: Aug 23 2009Aug 26 2009

Publication series

Name2009 European Control Conference, ECC 2009

Other

Other2009 10th European Control Conference, ECC 2009
CountryHungary
CityBudapest
Period8/23/098/26/09

Keywords

  • LQ optimal minimax tracking
  • State and disturbance estimation

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Bauer, P., Kulcsar, B., & Bokor, J. (2014). Discrete time minimax tracking control with disturbance estimation. In 2009 European Control Conference, ECC 2009 (pp. 2658-2663). [7074807] (2009 European Control Conference, ECC 2009). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ecc.2009.7074807