Title :
Rejecting disturbances to flexible structures using PI Kalman filters
Author :
Linder, Stephen Paul ; Shafai, Bahram
Author_Institution :
Northeastern Univ., Boston, MA, USA
Abstract :
The proportional Kalman filter (PKF) is formulated with integral action and generalized to the proportional-integral Kalman filter (PIKF). The PIKF can be utilized to improve the disturbance rejection property of the Kalman filter-based controller. Through extensive simulations, as applied to the lightly damped flexible structure of the 1992 ACC Benchmark, we show that the integral term of the PIKF allows effective estimation and rejection of arbitrary disturbances. As a result, a single PIKF-based controller robustly achieves full loop transfer recovery even when perturbed by an unknown shaped disturbance.
Keywords :
Kalman filters; flexible structures; robust control; state feedback; two-term control; vibration control; 1992 ACC Benchmark; PI Kalman filters; disturbances rejection; full loop transfer recovery; lightly damped flexible structure; proportional-integral Kalman filter; Degradation; Flexible structures; Kalman filters; Linear feedback control systems; Noise shaping; Regulators; Robust control; Shape control; State estimation; State feedback;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT, USA
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627699