Stochastic disturbance accommodating control using a Kalman estimator

Jemin George, Puneet Singla, John L. Crassidis

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

14 Scopus citations

Abstract

Disturbance accommodating control theory provides a method for designing feedback controllers which automatically detect and minimize the effect of waveform-structured disturbances. This paper presents a stochastic disturbance accommodating controller which utilizes a Kalman estimator to determine the necessary corrections to the nominal control input and thus minimizes the adverse effects of both model uncertainties and external disturbances on the controlled system. Stochastic stability analysis conducted on the controlled system reveals a lower-bound requirement on the estimator parameters to ensure the stability of the closed-loop system when the nominal control action on the true plant is unstable. Validity of the stability analysis is verified by implementing the proposed technique on a two degree-of-freedom helicopter.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479458
DOIs
StatePublished - 2008

Publication series

NameAIAA Guidance, Navigation and Control Conference and Exhibit

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

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    George, J., Singla, P., & Crassidis, J. L. (2008). Stochastic disturbance accommodating control using a Kalman estimator. In AIAA Guidance, Navigation and Control Conference and Exhibit [2008-6478] (AIAA Guidance, Navigation and Control Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2008-6478