A Novel Continuous Finite-Time Disturbance Observer Design and Its Application
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- 英文论文题名：A Novel Continuous Finite-Time Disturbance Observer Design and Its Application
- 论文作者：Qixun Lan ; Huawei Niu
- 英文论文作者：Qixun Lan ; Huawei Niu ; School of Mathematics and Physics ; Henan University of Urban Construction ; School of Mathematics ; Pingdingshan Institute of Education
- 年：2017
- 作者机构：School of Mathematics and Physics,Henan University of Urban Construction;School of Mathematics,Pingdingshan Institute of Education;
- 英文论文关键词：Continuous finite-time disturbance observer ; Disturbance ; Homogeneous systems theory ; Composite control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：353k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, we will investigate the problem of continuous finite-time disturbance observer(CFTDO) design and its application in the finite-time control(FTC) for systems subject to non-vanishing disturbances. First of all, based on the homogeneous domination approach and state saturation technique, a CFTDO design approach is proposed such that the disturbance can be precisely estimated in finite time. Then, the proposed CFTDO design approach is used to solve the finite-time stabilization problem for a class nonlinear circuit systems subject to non-vanishing disturbance. Finally, a composite controller consisting of a baseline FTC law and a feedforward compensation term based on the estimation of CFTDO is constructed for the nonlinear circuit system. It is shown that under the proposed composite controller the nonlinear circuit system can be stabilised. The proposed CFTDO and control strategy are confirmed by simulation results.
In this paper, we will investigate the problem of continuous finite-time disturbance observer(CFTDO) design and its application in the finite-time control(FTC) for systems subject to non-vanishing disturbances. First of all, based on the homogeneous domination approach and state saturation technique, a CFTDO design approach is proposed such that the disturbance can be precisely estimated in finite time. Then, the proposed CFTDO design approach is used to solve the finite-time stabilization problem for a class nonlinear circuit systems subject to non-vanishing disturbance. Finally, a composite controller consisting of a baseline FTC law and a feedforward compensation term based on the estimation of CFTDO is constructed for the nonlinear circuit system. It is shown that under the proposed composite controller the nonlinear circuit system can be stabilised. The proposed CFTDO and control strategy are confirmed by simulation results.
In this paper, we will investigate the problem of continuous finite-time disturbance observer(CFTDO) design and its application in the finite-time control(FTC) for systems subject to non-vanishing disturbances. First of all, based on the homogeneous domination approach and state saturation technique, a CFTDO design approach is proposed such that the disturbance can be precisely estimated in finite time. Then, the proposed CFTDO design approach is used to solve the finite-time stabilization problem for a class nonlinear circuit systems subject to non-vanishing disturbance. Finally, a composite controller consisting of a baseline FTC law and a feedforward compensation term based on the estimation of CFTDO is constructed for the nonlinear circuit system. It is shown that under the proposed composite controller the nonlinear circuit system can be stabilised. The proposed CFTDO and control strategy are confirmed by simulation results.
引文
[1]Y.Feng,X.Yu,and Z.Man,Non-singular terminal sliding mode control of rigid manipulators,Automatica,Vol.38,No.12,2159–2167,2002.
[2]W.Chen,Disturbance observer based control for nonlinear systems,IEEE/ASME Transactions on Mechatronics,Vol.9,No.4,706–710,2004.
[3]T.Umeno,and Y.Hori,Robust speed control of dc servomotors using modern two degrees-of-freedom controller design,IEEE Transactions on Industrial Electronics,Vol.38,No.5,363–368.,1991.
[4]K.Ohishi,M.Nakao,K.Ohnishi,and K.Miyachi,Microprocessor-controller dc motor for load-insensive position servo system,IEEE Transactions on Industrial Electronics,Vol.34,No.1,44–49,1987.
[5]J.Han,From pid to active disturbance rejection control,IEEE Transactions on Industrial Electronics,Vol.56,No.3,900–906,2009.
[6]S.Li,J.Yang,W.Chen,and X.Chen,Disturbance observerbased control methods and applications,CRC Press.,2014.
[7]J.Yang,W.Chen,and S.Li,Non-linear disturbance observerbased robust control for systems with mismatched disturbances/uncertainties,IET Control Theory and Applications,Vol.5,No.18,2053–2062,2011.
[8]J.She,X.Xin,and Y.Pan,Equivalent-input-disturbance approach–analysis and application to disturbance rejection in dual-stage feed drive control systems,IEEE/ASME Transactions on Mechatronics,Vol.16,No.2,330–340,2011.
[9]W.Chen,Harmonic disturbanc observer for nonlinear systems,Journal of Dynamic Systems,Measurement,and Control,Vol.125,No.1,114–117,2003.
[10]L.Guo,and W.Chen,Disturbance attenuation and rejection for systems with nonliearity via dobc approach,International Journal of Robust and Nonlinear Control,Vol.15,No.3,109–125,2005.
[11]A.Levant,Higher-order sliding modes,differentiation and output-feedback control,International Journal of Control,Vol.76,No.9,924–941,2003.
[12]X.Wang,Z.Chen,and G.Yang,Finite-time-convergent differentiator based on singular perturbation technique,IEEE Transactions on Automatic Control,Vol.52,No.9,1731–1737,2007.
[13]B.Guo,and Z.Zhao,Weak convergence of nonlinear highgain tracking differentiator,IEEE Transactions on Automatic Control,Vol.58,No.4,1074–1080,2013.
[14]S.Li,J.Yang,W.Chen,and X.Chen,Generalized extended state observer based control for systems with mismatched uncertainties,IEEE Transactions on Industrial Electronics,Vol.59,No.12,4792–4802,2012.
[15]Y.Huang,and W.Xue,Active disturbance rejection control:Methodology and theoretical analysis,ISA Transactions,Vol.53,No.4,963–976,2014.
[16]S.Zhao,and Z.Gao,Modified active disturbance rejection control for time delay systems,ISA Transactions,Vol.53,No.4,882–888,2014.
[17]Q.Lan,S.Li,S.Khoo,and P.Shi,Global finite-time stabilisation for a class of stochastic nonlinear systems by output feedback,International Journal of Control,Vol.88,No.3,494–506,2015.
[18]S.P.Bhat,and D.S.Bernstein,Continuous finite-time stabilization of the translational and rotational double integrators,IEEE Transactions on Automatic Control,Vol.43,No.5,678–682,1998.
[19]Y.Shtessel,I.Shkolnikov,and A.Levant,Smooth secondorder sliding modes:Missile guidance application,Automatica,Vol.43,No.8,1470–1476,2007.
[20]X.Huang,W.Lin,,and B.Yang,Global finite-time stabilization of a class of uncertain nonlinear systems,Automatica,Vol.41,No.5,881–888,2005
[21]Y.Shen,,and Y.Huang,Uniformly observable and globally lipschitzian nonlinear systems admit global finite-time observers,IEEE Transactions on Automatica Control,Vol.54,No.11,2621–2625,2009.
[22]C.Qian,and Q.Gong,Global output feedback stabilization of a class of nonlinear systems with multiple output,Journal of Dynamic Systems,Measurement,and Control,Vol.135,No.4,044502-1–044502-6.,2013.
[23]Y.Hong,Z.Jiang,and G.Feng,Finite-time input-to-state stability and applications to finite-time control design,SIAM Journal on Control and Optimization,Vol.48,No.7,4395–4418,2010.
[24]C.Qian,A homogeneous domination approach for global output feedback stabilization of a class of nonlinear systems,Proceedings of the 2005 American Control Conference,pp.4708–4715,2005.
[25]H.Lei,J.Wei,and W.Lin,A global observer for autonomous systems with bounded trajectories,International Journal of Robust and Nonlinear Control,Vol.17,No.12,1088–1105,2007.
[26]J.Li,C.Qian,and M.Frye,A dual-observer design for global output feedback stabilization of nonlinear systems with low-order and high-order nonlinearities,International Journal of Robust and Nonlinear Control,Vol.19,No.15,1697–1720,2009.
[27]T.Menard,E.Moulay,,and W.Perruquetii,A global high-gain finite-time observor,IEEE Transactions on Automatic Control,Vol.55,No.6,1500–1506,2010.
[28]R.Riaza,Double SIB points in differential-algebraic systems,IEEE Transactions on Automatic Control,Vol.48,No.9,1625-1629,2003.
[29]C.Y.Yang,J.Sun,Q.L.Zhang and X.P.Ma,Lyapunov stability and strong passivity analysis for nonlinear descriptor systems,IEEE Transactions on Circuits and Systems-I:Regular Paper,Vol.60,No.4,1003-1012,2013.
[30]J.H.David and I.M.Y.Mareels,Stability theory for differential/algebraic systems with application to power systems,IEEE Transactions on Circuits and Systems,Vol.37,No.11,1416-1423,1990.
[31]L.Dai,Singular control systems.Berlin:Springer-Verlag,1989.
[32]S.Y.Xu and J.Lam,Robust control and filering of singular systems.Berlin:Springer-verlag,2006.
[33]Q.X.lan,Y.X.Liu,H.W.Niu and J.R.Liang,Robust reliable guaranteed cost control for uncertain singular systems with time-delay,Journal of Systems Engineering and Electronics,vol.21,no.1,110-117,2010.
[34]L.Y.Sun,G.Feng and Y.Z.Wang,Finite-time stabilization and H∞control for a class of nonlinear Hamiltonian descriptor systems with applications to affine nonlinear descriptor systems,Automatica,Vol.50,No.8,2090-2097,2014.
[35]D.Y.Lin and W.Y.Lan,Output feedback composite nonlinear feedback control for singular systems with input saturation,Journal of the Franklin Institute,Vol.352,No.1,384-298,2015.
[36]N.H.Mc Clamroch,Feedback stabilization of control systems described by a class of nonlinear differential-algebraic equations,Systems&Control letters,Vol.15,No.1,53-60,1990.
[37]X.P.Liu and D.W.C.Ho,Stabilization of non-linear differential-algebraic equation systems,International Journal of Control,Vol.77,No.7,671-684,2004.
[38]Z.P.Jiang and M.Ikeda,Backstepping design for stabilization of nonlinear differential-algebraic systems,48th Proceedings of the Japan Joint Automatic Control Conference,Nov.25-26,Nagano-ken,Japan,pp.927-930,2005.
[39]H.S.Wang,C.Yung and F.Chang,H∞control for nonlinear descriptor systems,IEEE Transactions on Automatic Control,Vol.47,No.11,1919-1925,2002.
[40]Y.H.Liu,C.W.Li and R.B.Wu,Feedback control of nonlinear differential algebraic systems using Hamiltonian function method,Science in China Series F:Information Sciences,Vol.49,No.4,436-445,2006.
[41]X.M.Yao,L.Q.Zhu and L.Guo,Disturbance-observerbased control&H∞control for non-linear Markovian jump singular systems with multiple disturbances,IET Control Theory&Applications,Vol.7,No.16,pp.1689-1697,2014.
[42]C.Qian,,and W.Lin,A continuous feedback approach to global strong stabilization of nonlinear systems,IEEE Transactions on Automatic Control,Vol.46,No.7,1061–1079,2001.
[2]W.Chen,Disturbance observer based control for nonlinear systems,IEEE/ASME Transactions on Mechatronics,Vol.9,No.4,706–710,2004.
[3]T.Umeno,and Y.Hori,Robust speed control of dc servomotors using modern two degrees-of-freedom controller design,IEEE Transactions on Industrial Electronics,Vol.38,No.5,363–368.,1991.
[4]K.Ohishi,M.Nakao,K.Ohnishi,and K.Miyachi,Microprocessor-controller dc motor for load-insensive position servo system,IEEE Transactions on Industrial Electronics,Vol.34,No.1,44–49,1987.
[5]J.Han,From pid to active disturbance rejection control,IEEE Transactions on Industrial Electronics,Vol.56,No.3,900–906,2009.
[6]S.Li,J.Yang,W.Chen,and X.Chen,Disturbance observerbased control methods and applications,CRC Press.,2014.
[7]J.Yang,W.Chen,and S.Li,Non-linear disturbance observerbased robust control for systems with mismatched disturbances/uncertainties,IET Control Theory and Applications,Vol.5,No.18,2053–2062,2011.
[8]J.She,X.Xin,and Y.Pan,Equivalent-input-disturbance approach–analysis and application to disturbance rejection in dual-stage feed drive control systems,IEEE/ASME Transactions on Mechatronics,Vol.16,No.2,330–340,2011.
[9]W.Chen,Harmonic disturbanc observer for nonlinear systems,Journal of Dynamic Systems,Measurement,and Control,Vol.125,No.1,114–117,2003.
[10]L.Guo,and W.Chen,Disturbance attenuation and rejection for systems with nonliearity via dobc approach,International Journal of Robust and Nonlinear Control,Vol.15,No.3,109–125,2005.
[11]A.Levant,Higher-order sliding modes,differentiation and output-feedback control,International Journal of Control,Vol.76,No.9,924–941,2003.
[12]X.Wang,Z.Chen,and G.Yang,Finite-time-convergent differentiator based on singular perturbation technique,IEEE Transactions on Automatic Control,Vol.52,No.9,1731–1737,2007.
[13]B.Guo,and Z.Zhao,Weak convergence of nonlinear highgain tracking differentiator,IEEE Transactions on Automatic Control,Vol.58,No.4,1074–1080,2013.
[14]S.Li,J.Yang,W.Chen,and X.Chen,Generalized extended state observer based control for systems with mismatched uncertainties,IEEE Transactions on Industrial Electronics,Vol.59,No.12,4792–4802,2012.
[15]Y.Huang,and W.Xue,Active disturbance rejection control:Methodology and theoretical analysis,ISA Transactions,Vol.53,No.4,963–976,2014.
[16]S.Zhao,and Z.Gao,Modified active disturbance rejection control for time delay systems,ISA Transactions,Vol.53,No.4,882–888,2014.
[17]Q.Lan,S.Li,S.Khoo,and P.Shi,Global finite-time stabilisation for a class of stochastic nonlinear systems by output feedback,International Journal of Control,Vol.88,No.3,494–506,2015.
[18]S.P.Bhat,and D.S.Bernstein,Continuous finite-time stabilization of the translational and rotational double integrators,IEEE Transactions on Automatic Control,Vol.43,No.5,678–682,1998.
[19]Y.Shtessel,I.Shkolnikov,and A.Levant,Smooth secondorder sliding modes:Missile guidance application,Automatica,Vol.43,No.8,1470–1476,2007.
[20]X.Huang,W.Lin,,and B.Yang,Global finite-time stabilization of a class of uncertain nonlinear systems,Automatica,Vol.41,No.5,881–888,2005
[21]Y.Shen,,and Y.Huang,Uniformly observable and globally lipschitzian nonlinear systems admit global finite-time observers,IEEE Transactions on Automatica Control,Vol.54,No.11,2621–2625,2009.
[22]C.Qian,and Q.Gong,Global output feedback stabilization of a class of nonlinear systems with multiple output,Journal of Dynamic Systems,Measurement,and Control,Vol.135,No.4,044502-1–044502-6.,2013.
[23]Y.Hong,Z.Jiang,and G.Feng,Finite-time input-to-state stability and applications to finite-time control design,SIAM Journal on Control and Optimization,Vol.48,No.7,4395–4418,2010.
[24]C.Qian,A homogeneous domination approach for global output feedback stabilization of a class of nonlinear systems,Proceedings of the 2005 American Control Conference,pp.4708–4715,2005.
[25]H.Lei,J.Wei,and W.Lin,A global observer for autonomous systems with bounded trajectories,International Journal of Robust and Nonlinear Control,Vol.17,No.12,1088–1105,2007.
[26]J.Li,C.Qian,and M.Frye,A dual-observer design for global output feedback stabilization of nonlinear systems with low-order and high-order nonlinearities,International Journal of Robust and Nonlinear Control,Vol.19,No.15,1697–1720,2009.
[27]T.Menard,E.Moulay,,and W.Perruquetii,A global high-gain finite-time observor,IEEE Transactions on Automatic Control,Vol.55,No.6,1500–1506,2010.
[28]R.Riaza,Double SIB points in differential-algebraic systems,IEEE Transactions on Automatic Control,Vol.48,No.9,1625-1629,2003.
[29]C.Y.Yang,J.Sun,Q.L.Zhang and X.P.Ma,Lyapunov stability and strong passivity analysis for nonlinear descriptor systems,IEEE Transactions on Circuits and Systems-I:Regular Paper,Vol.60,No.4,1003-1012,2013.
[30]J.H.David and I.M.Y.Mareels,Stability theory for differential/algebraic systems with application to power systems,IEEE Transactions on Circuits and Systems,Vol.37,No.11,1416-1423,1990.
[31]L.Dai,Singular control systems.Berlin:Springer-Verlag,1989.
[32]S.Y.Xu and J.Lam,Robust control and filering of singular systems.Berlin:Springer-verlag,2006.
[33]Q.X.lan,Y.X.Liu,H.W.Niu and J.R.Liang,Robust reliable guaranteed cost control for uncertain singular systems with time-delay,Journal of Systems Engineering and Electronics,vol.21,no.1,110-117,2010.
[34]L.Y.Sun,G.Feng and Y.Z.Wang,Finite-time stabilization and H∞control for a class of nonlinear Hamiltonian descriptor systems with applications to affine nonlinear descriptor systems,Automatica,Vol.50,No.8,2090-2097,2014.
[35]D.Y.Lin and W.Y.Lan,Output feedback composite nonlinear feedback control for singular systems with input saturation,Journal of the Franklin Institute,Vol.352,No.1,384-298,2015.
[36]N.H.Mc Clamroch,Feedback stabilization of control systems described by a class of nonlinear differential-algebraic equations,Systems&Control letters,Vol.15,No.1,53-60,1990.
[37]X.P.Liu and D.W.C.Ho,Stabilization of non-linear differential-algebraic equation systems,International Journal of Control,Vol.77,No.7,671-684,2004.
[38]Z.P.Jiang and M.Ikeda,Backstepping design for stabilization of nonlinear differential-algebraic systems,48th Proceedings of the Japan Joint Automatic Control Conference,Nov.25-26,Nagano-ken,Japan,pp.927-930,2005.
[39]H.S.Wang,C.Yung and F.Chang,H∞control for nonlinear descriptor systems,IEEE Transactions on Automatic Control,Vol.47,No.11,1919-1925,2002.
[40]Y.H.Liu,C.W.Li and R.B.Wu,Feedback control of nonlinear differential algebraic systems using Hamiltonian function method,Science in China Series F:Information Sciences,Vol.49,No.4,436-445,2006.
[41]X.M.Yao,L.Q.Zhu and L.Guo,Disturbance-observerbased control&H∞control for non-linear Markovian jump singular systems with multiple disturbances,IET Control Theory&Applications,Vol.7,No.16,pp.1689-1697,2014.
[42]C.Qian,,and W.Lin,A continuous feedback approach to global strong stabilization of nonlinear systems,IEEE Transactions on Automatic Control,Vol.46,No.7,1061–1079,2001.