Robust tracking performance and disturbance rejection for a class of nonlinear systems using disturbance observers

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1、2013AmericanControlConference(ACC)Washington,DC,USA,June17-19,2013RobustTrackingPerformanceandDisturbanceRejectionforaClassofNonlinearSystemsUsingDisturbanceObserversAhmedH.El-ShaerandMasayoshiTomizukaAbstract—ThispaperisconcernedwithdisturbancerejectionQ(s),isaddedintothemainfe

2、edbacksystemtoestimateperformanceinsingle-inputsingle-output(SISO)nonlinearexogenousdisturbancesandcancelthemsubsequently[8].systemsdescribedbyuncertainlineardynamicsandboundedTherobustDOBdesignpresentedinthispaperreliesonnonlinearities.Aftertransformingthenonlineartermsintothee

3、quivalenceoftheDOBstructureinFig.1bandthatanequivalentboundeddisturbanceattheoutputofalinearsystem,adisturbanceobserver(DOB)isaddedtoachieveofaclassicLuenbergerobserverstateestimationofanaug-robustdisturbancerejection.TheDOBdesignisformulatedmentedlinearsystemwithinternalmodelfo

4、rthedisturbanceasLuenbergerobserverstateestimationforanaugmenteddynamics[12].Undermildassumptionsitisshownthatsuchsystemwhichcontainsatleastoneeigenvalueattheorigin.Theequivalenceindeedexistsiftheinternalmodelhasatleastansynthesisofa(sub)optimalDOBiscarriedoutbysolvingmulti-eige

5、nvalueattheorigin[17][8].Thus,oncetheLuenbergerobjectiveH∞sensitivityoptimization.Thedesignapproachisappliedtoaninvertedpendulumwithactuatorbacklash.observergainLisobtained,Q(s)isevaluatedasatransferfunctionparameterizedbythegainL,i.e.Q(s,L).ThisI.INTRODUCTIONapproachoffersmanya

6、dvantagesoverconventionalmethodsThispaperisconcernedwithrobusttrackingperformance[22]:(i)thedesignofDOBsissystematicallyembeddedintoanddisturbancerejectionforaclassofsingle-inputsingle-themoregeneralframeworkofrobuststateestimationforoutput(SISO)nonlinearsystems.Thesystemdynamic

7、sisuncertain[9]andnonlinearsystems[10],(ii)thedesignofcomprisedofalinearpartsubjecttonorm-boundeduncer-theoutercontrollerandtheinnerDOBcanbecarriedouttainty[5],andavector-valuedboundednonlinearitywhichiscompletelyseparately,(iii)structureconstraintsassociatednotknownexactly.Give

8、naninternallystabilizingcontrollerwithQ(s)filter