By Lei Guo
''Developing the fundamental idea for architecting and tackling matters confronted in the course of advanced reasonable engineering difficulties, this quantity specializes in improved anti-disturbance keep watch over and filtering idea and functions. The publication in particular addresses the radical disturbance observer established keep watch over (DOBC) methodologies for doubtful and nonlinear structures in time area. It additionally examines novel anti-disturbance control and filtering with the composite hierarchical structure to augment keep watch over and filtering for the complicated keep an eye on structures with a number of disturbances. The e-book offers software examples, together with flight keep watch over, robot approach, altitude regulate, and preliminary alignment to teach easy methods to use the theoretical equipment in engineering''--
''Preface Unknown disturbances originating from a number of assets exist in all useful managed structures, the place unmodeled dynamics and uncertainties can be formulated as an an identical disturbance. As such, disturbance attenuation and rejection for nonlinear platforms is a tough goal within the zone of keep an eye on. research and synthesis for non-linear regulate platforms with disturbances has been the most energetic study fields long ago few a long time. There are numerous drawbacks to be conquer in destiny reports on non-linear antidisturbance keep an eye on. First, in engineering functions, the disturbance might originate from a number of resources and will be defined through a composite shape instead of a unmarried variable. therefore, the H8 keep watch over might be too conservative to supply hugely actual keep an eye on functionality. however, disturbance rejection ways frequently want certain types for either the managed procedure and the disturbance approach. This confines their functions because the disturbance can also be defined through a unmarried output variable from an actual exo-system and robustness is hard to assure. for instance, even if disturbance observer established keep watch over is a sound disturbance rejection technique for non-linear structures with harmonic disturbances, the functionality of the process will go to pot if the disturbance version can't be defined accurately. In filtering difficulties, either exterior noises, size noises and constitution vibrations, and in addition unmodeled, nonlinear and unsure dynamics are typically merged into the disturbance variable.''-- Read more...
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Additional resources for Anti-Disturbance Control for Systems with Multiple Disturbances
Simulations for a helicopter show that better robustness can be achieved against parameter uncertainties, compared with a classical robust control law . 2. NLDOBC Based on Lyapunov Theory: when the disturbance is supposed to satisfy special conditions such as being a constant, it can possibly be estimated via measurement without an observer. In , an NLDOBC law was presented for a class of multivariate nonlinear systems including two link robot manipulators. Global stability was guaranteed and the encouraging experimental results show that the performance and robustness against friction and uncertain dynamics is greatly improved.
Global stability was also established using Lyapunov theory. It is shown that the explicit observer structure disappears and a nonlinear PID controller appears. In , for time-invariant disturbances, the estimation of disturbance can be obtained without the normal observer type by using Lyapunov theory. For the tracking control problem of robot manipulators, simulation results show that the DOBC can achieve superior performance against adaptive control schemes and sliding mode control. Up to now, most rigorous analysis and synthesis of NLDOBC only concerned time-invariant disturbance.
Systematic stability analysis is established using Lyapunov theory and design procedures are proposed based on convex optimization algorithms. Finally, simulations on an A4D aircraft model show the effectiveness of the proposed approaches. 1) where x(t) ∈ Rn , d(t) ∈ Rm , u(t) ∈ Rm and y(t) ∈ R p1 are state, unknown disturbance, control input and measurement output, respectively. A0 , B0 , C0 , D0 , F01 and F02 are given system matrices. 1. 2) where Ui (i = 1, 2) are given constant weighting matrices.