Output Adaptive Switching Controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation <ce:cross-ref refid='fn1'> <ce:sup loc='post'>?</ce:sup> </ce:cross-ref>

Dmitrii Dobriborsci; Sergey Kolyubin; Fatimat Karashaeva; Alexey Bobtsov

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Output Adaptive Switching Controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation ?

机译：输出基于DREM的多谐波干扰消除的输出自适应交换控制器设计

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A new DREM-based (Dynamic Regressor Extension and Mixing) modification for output adaptive controller with input multi-harmonic disturbance cancellation is proposed in this paper. This approach provides monotonic convergence of the disturbance internal model parameters’ estimates to its true values. We also introduce a novel algorithm for the DREM-based estimator gains tuning in order to improve convergence under poor excitation. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed, while the non-prehensile ball stabilization in a predefined coordinates under bounded disturbances is a task to be solved.

机译：本文提出了一种用于输出自适应控制器的新的DEM（动态回归扩展和混合）修改，采用输入多谐波干扰消除。这种方法为其真正值提供了干扰内部模型参数的单调会聚。我们还介绍了一种新的基于DER的估计算法的算法，以提高良好激发下的收敛。并行运动学球形球和板机器人系统被认为是试验台，而在有界障碍下的预定坐标中的非预先生球稳定是待解决的任务。

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《IFAC PapersOnLine》 |2019年第29期|共6页
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Dmitrii Dobriborsci; Sergey Kolyubin; Fatimat Karashaeva; Alexey Bobtsov;
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Adaptive controloutput controldisturbance cancellationDREMball-and-plate;

机译：自适应ControlOutput ucholdisturbance消除德拉姆球板;

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机译：基于DREM的多谐波干扰消除输出自适应交换控制器设计
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Output Adaptive Switching Controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation ?

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