Distributed Hamiltonian Adaptive Disturbance Rejection Control With Actuator Dynamics
Nhan T. Nguyen
Abstract
This paper presents a distributed Hamiltonian control of a class of Lagrangian infinite-dimensional systems with adaptive disturbance rejection control in presence of actuator dynamics. The distributed Hamiltonian control is formulated as a linear quadratic optimal control in a semigroup abstraction. Two adaptive distur- bance estimation is based on a model prediction approach combined with two different adaptation strategies. The model prediction is based on disturbance measurements using look-ahead sensors. When used in con- junction with an adaptive estimation of the disturbance signal or with an adaptive parameter estimation of the disturbance dynamics, the performance of the disturbance rejection is further improved. A demonstration problem of a flexible HALE aircraft illustrates the effectiveness of the proposed adaptive disturbance rejection control strategies in the presence of actuator dynamics.