Abstract
In vehicular radar servo system, parameter variations of the executive motor and external disturbance uncertainties have great effects on the position tracking precision of the system. In this paper, a robust adaptive controller with disturbance observer is designed for vehicular radar servo system, which combines the merits of disturbance observer, adaptive backstepping method and sliding mode control. The system is modeled, and a disturbance observer is employed to observe and compensate for the unknown uncertainties. Adaptive backstepping method is used to design the sliding model controller to guarantee the global stability of the overall system. Simulation results show that the proposed robust adaptive controller has good performance in position tracking and enhances the robustness of vehicular radar servo system while observing the uncertainties precisely and quickly.
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Recommended by Editorial Board member Bin Jiang under the direction of Editor Young Il Lee. This work was supported by the Application Basis Foundation of Sichuan Province of China (No.2009JY0008) and the Excellent Youth Foundation of Sichuan Province of China (No. 09ZQ026-009).
Xia Liu is a Ph.D. student in the School of Automation Engineering, University of Electronic Science and Technology of China. Her research interests include nonlinear control and adaptive control.
Qi Huang received his Ph.D. degree from Arizona State University, USA, in 2003. He is currently a professor in the School of Automation Engineering, University of Electronic Science and Technology of China. His current research interests include power system high performance computing, power system instrumentation, power system monitoring and control, sensor network for electric power system security infrastructure, and integration of distributed generation into the existing power system infrastructure.
Yong Chen received his Ph.D. degree in Control Theory and Control Engineering from Chongqing University, China, in 2007. He is currently an associate professor in the School of Automation Engineering, University of Electronic Science and Technology of China. His research interests include intelligent control, image processing, information fusion and vehicle safety.
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Liu, X., Huang, Q. & Chen, Y. Robust adaptive controller with disturbance observer for vehicular radar servo system. Int. J. Control Autom. Syst. 9, 169–175 (2011). https://doi.org/10.1007/s12555-011-0122-6
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DOI: https://doi.org/10.1007/s12555-011-0122-6