一类含输入时滞非线性系统的干扰观测器控制

文新宇

doi:10.3724/SP.J.1004.2014.01882

一类含输入时滞非线性系统的干扰观测器控制

doi: 10.3724/SP.J.1004.2014.01882

文新宇

1.
太原科技大学电子信息工程学院太原 030024

基金项目:

国家自然科学基金（61203049），太原科技大学校博士启动资金（20122048），山西省高校科技研究开发项目（20121068）资助

详细信息

作者简介:
文新宇太原科技大学副教授.主要研究方向为干扰估计和抗干扰控制.E-mail：wxysunrain@163.com

计量
- 文章访问数: 2174
- HTML全文浏览量: 153
- PDF下载量: 1524
- 被引次数: 0
出版历程
- 收稿日期: 2013-07-18
- 修回日期: 2013-09-29
- 刊出日期: 2014-09-20

Disturbance Observer Based Control for a Class of Nonlinear Systems with Input Time-delay

WEN Xin-Yu

1.
School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024

Funds:

Supported by National Natural Science Foundation of China (61203049), Taiyuan University of Science and Technology Doctor Priming Foundation (20122048), and Research Development Program of Science and Technology of Higher Education of Shanxi Province(20121068)

摘要

摘要: 基于干扰观测器控制（Disturbance-observer-based control，DOBC）作为一种有效的干扰补偿策略取得了广泛的应用. 然而，当干扰和控制输入不能在同一时刻进入控制通道时，外部信号很难得到实时估计和补偿.提出一种复合DOBC结构，包括干扰观测、干扰预测和反馈调节三个部分.该方法的特点是即使一类非线性系统存在输入时滞，同样可以继承传统DOBC的优点. 最后，通过构造辅助观测器给出了预测误差以及复合闭环系统的稳定性分析方法.
- 干扰观测器 /
- 干扰预测 /
- 辅助观测器 /
- 输入时滞
Abstract: Disturbance-observer-based control (DOBC) has been considered as an effective disturbance rejection scheme in applications. However, if the control input and disturbance cannot enter the control channel at the same time, it will be difficult to estimate and compensate the exogenous signals in real time. A compound DOBC method, consisting of a disturbance observer, disturbance prediction and a feedback regulation part, is thus developed. One novel feature of the proposed method is that the merits of DOBC can be inherited for a class of nonlinear systems with input time-delay. Moreover, stability analysis for both the dynamic prediction error system and the composite closed-loop system is provided by designing an auxiliary observer.
- Disturbances observer /
- disturbance prediction /
- auxiliary observer /
- input time-delay

HTML全文

参考文献(16)

[1]	Guo L, Feng C, Chen W. A survey of disturbance-observer-based control for dynamic nonlinear system. Dynamics of Continuous Discrete and Impulsive Systems-series B: Applications & Algorithms, 2006, 13E: 79-84
[2]	Chen W H, Ballance D J, Gawthrop P J, O'Reilly J. A nonlinear disturbance observer for robotic manipulators. IEEE Transactions on Industrial Electronic, 2000, 47(4): 932-938
[3]	Wei X J, Guo L. Composite disturbance observer-based control and control for H∞ complex continuous models. International Journal of Robust and nonlinear Control, 2010, 20(1): 106-118
[4]	Guo L, Chen W H. Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach. International Journal of Robust Nonlinear Control, 2005, 15(2): 109-125
[5]	Guo L, Wen X Y. Hierarchical anti-distance adaptive control for non-linear systems with composite disturbances. Transactions of the Institute of Measurement and Control, 2011, 33(8): 942-956
[6]	Yang Z J, Hiroshi T, Kanae S, Wada K. A novel robust nonlinear motion controller with disturbance observer. IEEE Transactions on Control Systems Technology, 2008, 16(1): 137-147
[7]	Chen X K, Su C Y, Fukuda T. A nonlinear disturbance observer for multi-variable systems and its application to magnetic bearing systems. IEEE Transactions on Control Systems Technology, 2004, 2(4): 569-577
[8]	Back J, Shim H. Adding robustness to nominal output-feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer. Automatica, 2008, 44(9): 2528-2537
[9]	Hu Zhi-Kun, Sun Yan, Jiang Bin, He Jing, Zhang Chang-Fan. An optimal unknown input observer based fault diagnosis method. Acta Automatica Sinica, 2012, 39(8): 1225-1230(胡志坤, 孙岩, 姜斌, 何静, 张昌凡. 一种基于最优未知输入观测器的故障诊断方法. 自动化学报, 2012, 39(8): 1225-1230)
[10]	Yin Zheng-Nan, Su Jian-Bo, Gao Xiu-Xing. Systematic design method of disturbance observer guaranteeing closed-loop systems robust stability. Acta Automatica Sinica, 2012, 38(1): 12-22 (尹正男, 苏剑波, 高秀行. 保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法. 自动化学报, 2012, 38(1): 12-22)
[11]	Yang J, Li S H, Yu X H. Sliding-mode control for systems with mismatched uncertainties via a disturbance observer. IEEE Transactions on Industrial Electronics, 2013, 60(1): 160-169
[12]	Yang J, Li S H, Y X H. Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances. Automatica, 2013, 49(7): 2287-2291
[13]	Li S H, Yang J, Chen W H, Chen X S. Generalized extended state observer based control for systems with mismatched uncertainties. IEEE Transactions on Industrial Electronics, 2012, 59(12): 4792-4802
[14]	Li S H, Yang J. Robust autopilot design for bank-to-turn missiles using disturbance observers. IEEE Transactions on Aerospace and Electronic Systems, 2013, 49(1): 558-579
[15]	Isidori A, Byrnes C I. Output regulation of nonlinear systems. IEEE Transactions on Automatic Control, 1990, 35(2): 131-140
[16]	Wu H S. Adaptive robust state observers for a class of uncertain nonlinear dynamical systems with delayed state perturbations. IEEE Transactions on Automatic Control, 2009, 54(6): 1407-1411