Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems

Hong Jiang; Guangren Duan

doi:10.1109/CFASTA57821.2023.10243369

Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems

Hong Jiang^*
, Guangren Duan

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Southern University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

This paper proposes a generalized proportional-integral observer for fully actuated systems. Based on the Lipschitz condition and the convexity principle, the condition expressed by the linear matrix inequality is given to ensure that the estimation error converges exponentially. Due to the full-Actuation property, an observer-based output tracking controller is designed, which divides the closed-loop system into a linear constant part and a nonlinear error part. The condition for the convergence of the tracking error is also given. An example is presented to show the effect of the approach.

Original language	English
Title of host publication	Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	117-121
Number of pages	5
ISBN (Electronic)	9798350332162
DOIs	https://doi.org/10.1109/CFASTA57821.2023.10243369
State	Published - 2023
Event	2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023 - Qingdao, China Duration: 14 Jul 2023 → 16 Jul 2023

Publication series

Name	Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

Conference

Conference	2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Country/Territory	China
City	Qingdao
Period	14/07/23 → 16/07/23

Keywords

Fully Actuated System
Generalized Proportional-Integral Observer
Linear Matrix Inequality
Observer-Based Output Tracking Controller

Access to Document

10.1109/CFASTA57821.2023.10243369

Cite this

Jiang, H., & Duan, G. (2023). Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems. In Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023 (pp. 117-121). (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CFASTA57821.2023.10243369

Jiang, Hong ; Duan, Guangren. / Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems. Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 117-121 (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023).

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title = "Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems",

abstract = "This paper proposes a generalized proportional-integral observer for fully actuated systems. Based on the Lipschitz condition and the convexity principle, the condition expressed by the linear matrix inequality is given to ensure that the estimation error converges exponentially. Due to the full-Actuation property, an observer-based output tracking controller is designed, which divides the closed-loop system into a linear constant part and a nonlinear error part. The condition for the convergence of the tracking error is also given. An example is presented to show the effect of the approach.",

keywords = "Fully Actuated System, Generalized Proportional-Integral Observer, Linear Matrix Inequality, Observer-Based Output Tracking Controller",

author = "Hong Jiang and Guangren Duan",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023 ; Conference date: 14-07-2023 Through 16-07-2023",

year = "2023",

doi = "10.1109/CFASTA57821.2023.10243369",

language = "英语",

series = "Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "117--121",

booktitle = "Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023",

address = "美国",

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Jiang, H & Duan, G 2023, Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems. in Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 117-121, 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023, Qingdao, China, 14/07/23. https://doi.org/10.1109/CFASTA57821.2023.10243369

Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems. / Jiang, Hong; Duan, Guangren.
Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 117-121 (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems

AU - Jiang, Hong

AU - Duan, Guangren

PY - 2023

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N2 - This paper proposes a generalized proportional-integral observer for fully actuated systems. Based on the Lipschitz condition and the convexity principle, the condition expressed by the linear matrix inequality is given to ensure that the estimation error converges exponentially. Due to the full-Actuation property, an observer-based output tracking controller is designed, which divides the closed-loop system into a linear constant part and a nonlinear error part. The condition for the convergence of the tracking error is also given. An example is presented to show the effect of the approach.

AB - This paper proposes a generalized proportional-integral observer for fully actuated systems. Based on the Lipschitz condition and the convexity principle, the condition expressed by the linear matrix inequality is given to ensure that the estimation error converges exponentially. Due to the full-Actuation property, an observer-based output tracking controller is designed, which divides the closed-loop system into a linear constant part and a nonlinear error part. The condition for the convergence of the tracking error is also given. An example is presented to show the effect of the approach.

KW - Fully Actuated System

KW - Generalized Proportional-Integral Observer

KW - Linear Matrix Inequality

KW - Observer-Based Output Tracking Controller

UR - https://www.scopus.com/pages/publications/85173621265

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DO - 10.1109/CFASTA57821.2023.10243369

M3 - 会议稿件

AN - SCOPUS:85173621265

T3 - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

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EP - 121

BT - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

Y2 - 14 July 2023 through 16 July 2023

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Jiang H, Duan G. Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems. In Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 117-121. (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023). doi: 10.1109/CFASTA57821.2023.10243369

Output Tracking Based on Generalized Proportional-Integral Observer for Fully Actuated Systems

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