Rejection of Harmonic Sensor Disturbance
Funded by OSU startup funds
Graduate students supported:
Garo Zarikian (Master, graduated in August 2004)
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 theoretical findings.
Relevant publications:
  1. 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.
  2. A. Serrani. Rejection of harmonic disturbances at the controller input via hybrid adaptive external models. Submitted for publication on Automatica, 2004.
  3. L. Marconi, A. Isidori, and A. Serrani. Non-resonance conditions for uniform observability in the problem of nonlinear output regulation. Systems and Control Letters, 53(3-4):281-298, 2004.
  4. P. Pisu, A. Serrani, and G. Rizzoni. Rejection of 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, Spain, 2005.
  5. G. Zarikian and A. Serrani. External model-based disturbance rejection in tracking control of Euler-Lagrange systems. In Proceedings of the 2005 American Control Conference, Portland, OR, 2005.
  6. 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, Bahamas, 2004.
  7. A. Serrani. Robust station-keeping of underwater vehicles under velocity measurement offsets. In Proceedings of the IFAC Conference on Control Applications in Marine Systems - CAMS 2004, Ancona, Italy, 2004.