The proposed research
investigates adaptive internal model-based and feedforward-based
methodologies for the design of controllers capable of securing
internal stability and asymptotic tracking of reference trajectories in
presence of harmonic disturbances at both the input and output channels
of a plant. The research focuses on general classes of multivariable
linear systems, and specific classes of nonlinear systems of interests
in aerospace and electro-mechanical applications. Particular attention
is devoted to the issue of robustness against both parameter
uncertainty on the plant model, and uncertainty about the fundamental
frequencies of the periodic disturbance. Experimental setups (flexible
joint manipulator, 2-DOF helicopter model) are employed to validate the
- G. Zarikian and
A. Serrani. Harmonic
disturbance rejection in
tracking control of Euler-Lagrange systems: an external model approach.
Submitted for publication on the IEEE Transactions on Control
Systems Technology, 2004.
- A. Serrani. Rejection
of harmonic disturbances at
input via hybrid adaptive external models. Submitted for publication on
- L. Marconi,
A. Isidori, and A. Serrani.
conditions for uniform observability in the problem of nonlinear output
regulation. Systems and Control Letters, 53(3-4):281-298, 2004.
- P. Pisu,
A. Serrani, and G. Rizzoni.
harmonic sensor disturbances in passive systems, and applications to
attitude control. Submitted to the 2005 joint IEEE Conference on
Decision and Control and European Control Conference, Seville,
- G. Zarikian and
A. Serrani. External
rejection in tracking control of Euler-Lagrange systems. In Proceedings
of the 2005 American Control Conference, Portland, OR, 2005.
- A. Serrani. Hybrid
external models, and the
rejection of harmonic
disturbances at the controller input. In Proceedings of the 2004
IEEE Conference on Decision and Control, Paradise Island,
- A. Serrani. Robust
station-keeping of underwater
velocity measurement offsets. In Proceedings of the IFAC
Conference on Control Applications in Marine Systems - CAMS 2004,
Ancona, Italy, 2004.