Disturbance-observer-based output feedback control of non-linear cascaded systems with external disturbance

The output feedback robust controller is proposed for a class of non-linear systems with integral input-to-state stable inverse dynamics and external disturbance. The investigated systems represent more general classes of non-linear uncertain systems. An extended state observer (ESO) is designed to estimate both the system states and the external disturbance by use of the disturbance as a generalised state. Based on the given reduced-order ESO, a new error dynamic system is constructed. The global asymptotic regulation is guaranteed under the presented anti-disturbance controller by the combined approach of backstepping and linear matrix inequality. The simulation result demonstrates the effectiveness of the given algorithm.

[1]  Wei Xing Zheng,et al.  Design of a Prediction-Accuracy-Enhanced Continuous-Time MPC for Disturbed Systems via a Disturbance Observer , 2015, IEEE Transactions on Industrial Electronics.

[2]  Xin Yu,et al.  Reduced-order observer-based output feedback regulation for a class of nonlinear systems with iISS inverse dynamics , 2012, Int. J. Control.

[3]  Jiangbo Yu,et al.  Output feedback regulation control for a class of cascade nonlinear systems and its application to fan speed control , 2012 .

[4]  Wan Kyun Chung,et al.  A discrete-time design and analysis of perturbation observer for motion control applications , 2003, IEEE Trans. Control. Syst. Technol..

[5]  William C. Messner,et al.  A novel disturbance observer design for magnetic hard drive servo system with a rotary actuator , 1998 .

[6]  C. D. Johnson,et al.  Accomodation of external disturbances in linear regulator and servomechanism problems , 1971 .

[7]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[8]  Yaodong Pan,et al.  Equivalent-Input-Disturbance Approach—Analysis and Application to Disturbance Rejection in Dual-Stage Feed Drive Control System , 2011, IEEE/ASME Transactions on Mechatronics.

[9]  Lei Guo,et al.  Disturbance-Observer-Based Control and Related Methods—An Overview , 2016, IEEE Transactions on Industrial Electronics.

[10]  Wan Kyun Chung,et al.  Disturbance-observer-based motion control of redundant manipulators using inertially decoupled dynamics , 1999 .

[11]  Guohai Liu,et al.  Output feedback control of nonlinear systems with uncertain ISS/iISS supply rates and noises , 2014 .

[12]  Wen-Hua Chen,et al.  Disturbance observer based control for nonlinear systems , 2004 .

[13]  Kyung-Soo Kim,et al.  Disturbance Observer for Estimating Higher Order Disturbances in Time Series Expansion , 2010, IEEE Transactions on Automatic Control.

[14]  Wen-Hua Chen,et al.  Sliding mode control for a class of uncertain nonlinear system based on disturbance observer , 2009 .

[15]  Fred. W. Smith.  Effect of Radar Amplitude and Phase Weighting Errors on Clutter Rejection by Burst Waveforms , 1974, IEEE Transactions on Aerospace and Electronic Systems.

[16]  Shunan Wu,et al.  Sliding-mode control for staring-mode spacecraft using a disturbance observer , 2010 .

[17]  Hebertt Sira-Ramirez,et al.  On the Robust Control of Buck-Converter DC-Motor Combinations , 2013, IEEE Transactions on Power Electronics.

[18]  Christopher Edwards,et al.  Sliding mode control for time-varying delayed systems based on a reduced-order observer , 2010, Autom..

[19]  Xinghuo Yu,et al.  Continuous Finite-Time Output Regulation for Disturbed Systems Under Mismatching Condition , 2015, IEEE Transactions on Automatic Control.

[20]  Yan Zhao,et al.  Further Results on Global Asymptotic Regulation Control for a Class of Nonlinear Systems With iISS Inverse Dynamics , 2011, IEEE Transactions on Automatic Control.

[21]  Xinghuo Yu,et al.  Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances , 2013, Autom..

[22]  Eduardo Sontag.  Comments on integral variants of ISS , 1998 .

[23]  Lei Guo,et al.  Composite disturbance-observer-based control and terminal sliding mode control for non-linear systems with disturbances , 2009, Int. J. Control.

[24]  Min Wu,et al.  Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach , 2013, IEEE/ASME Transactions on Mechatronics.

[25]  Zhong-Ping Jiang,et al.  A unifying framework for global regulation via nonlinear output feedback: from ISS to iISS , 2004, IEEE Transactions on Automatic Control.

[26]  Yuanqing Xia,et al.  Active disturbance rejection control for uncertain multivariable systems with time-delay , 2007 .

[27]  Hassan K. Khalil,et al.  Performance Recovery of Feedback-Linearization-Based Designs , 2008, IEEE Transactions on Automatic Control.

[28]  David Angeli,et al.  A characterization of integral input-to-state stability , 2000, IEEE Trans. Autom. Control..