Reduced-order Washout Controllers Stabilizing Uncertain Equilibrium Points

Abstract

Abstract-We consider a local stabilization problem of an uncertain equilibrium point existed in a nonlinear continuoustime system by a finite-dimensional dynamical state feedback controller. In previous research, it is investigated that steadystate blocking zeros of the stabilizing controller play an important role. Such a controller is called a washout controller. In this paper, we develop a design method for reduced-order washout controllers whose order is less than the plant's order. Additionally, we also consider a local stabilization problem of an uncertain fixed point of a given discrete-time system.

Washout control for inverted pendulum mobile robots with sensor drifts

“…From Theorem 1 and Lemma 1, a controller (13) such that the closed-loop system (23) is asymptotically stable satisfies (22).…”

“…In [22], to reject the only offset drift ( 1 = 0), a washout controller ′ ( ) which have a steady-state blocking zero have been proposed. Then, the controller is given by…”

Dynamic State-Derivative Feedback Controller for Uncertain Equilibrium Point Stabilization

“…However, it is generally difficult to get the exact value of the equilibrium point in the real system. In this paper, it is assumed that the equilibrium point of the system (1) is uncertain, that is, the measured output is described by (5) where is a measurable equilibrium point having a uncertain term given by . Therefore, we consider the stabilization of the uncertain equilibrium point by using only information of as feedback.…”

“…As a control method for stabilizing equilibrium points without their exact information, delayed feedback control [1]- [2], adaptive feedback control [3], washout filter-aided feedback control [4], washout control [5], and state-derivative feedback control [6] have been proposed in previous researches. These feedback controllers eliminate the dependence on the steady-state by using its steady-state blocking zero.…”

Attitude control of quadrotor helicopters with sensor offsets

“…Theorem 1 ( [23]): If the linearized system (3) is washout controllable by a dynamic controller (10), then is nonsingular.…”