2.845

2023影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于干扰观测器的不确定线性多变量系统控制

于哲 王璐 苏剑波

于哲, 王璐, 苏剑波. 基于干扰观测器的不确定线性多变量系统控制. 自动化学报, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643
引用本文: 于哲, 王璐, 苏剑波. 基于干扰观测器的不确定线性多变量系统控制. 自动化学报, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643
YU Zhe, WANG Lu, SU Jian-Bo. Disturbance Observer Based Control for Linear Multi-variable Systems with Uncertainties. ACTA AUTOMATICA SINICA, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643
Citation: YU Zhe, WANG Lu, SU Jian-Bo. Disturbance Observer Based Control for Linear Multi-variable Systems with Uncertainties. ACTA AUTOMATICA SINICA, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643

基于干扰观测器的不确定线性多变量系统控制

doi: 10.3724/SP.J.1004.2014.02643
基金项目: 

国家自然科学基金(61221003)资助

详细信息
    作者简介:

    于哲 上海交通大学自动化系硕士研究生. 主要研究方向为鲁棒控制,机器人运动控制. E-mail: azhe825@sjtu.edu.cn

    通讯作者:

    苏剑波, 上海交通大学自动化系教授. 主要研究方向为机器人控制, 多传感器信息融合, 机器学习与人机交互. 本文通信作者.E-mail: jbsu@sjtu.edu.cn

Disturbance Observer Based Control for Linear Multi-variable Systems with Uncertainties

Funds: 

Supported by National Natural Science Foundation of China (61221003)

  • 摘要: 针对不确定线性多变量系统,提出一种基于干扰观测器(Disturbance observer,DOB)的保证系统内部稳定性的控制策略.以简单的结构和少量的计算代价实现鲁棒的控制效果,补偿外界干扰以及内部模型误差.通过引入一个闭环稳定性等价系统,辅助分析基于干扰观测器的多变量控制系统的内部稳定性,探讨在存在外部扰动及内部模型不确定性的情况下系统保证内部稳定的充分条件,指导外环控制器及内环干扰观测器中Q滤波器的设计.通过数值模型上的仿真验证了提出的控制方法的有效性.
  • [1] Lee S, Kim Y, Baek S. Robust control using a state space disturbance observer. In: Proceedings of the 2000 American Control Conference, 2000, 6: 4194-4198
    [2] Francis B A, Wonham W M. The internal model principle of control theory. Automatica, 1976, 12(5): 457-465
    [3] Choi B K, Choi C H, Lim H. Model-based disturbance attenuation for CNC machining centers in cutting process. IEEE/ASME Transactions on Mechatronics, 1999, 4(2): 157-168
    [4] Yao B, Al-Majed M, Tomizuka M. High-performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments. IEEE/ASME Transactions on Mechatronics, 1997, 2(2): 63-76
    [5] Nakao M, Ohnishi K, Miyachi K. A Robust decentralized joint control based on interference estimation. In: Proceedings of the 1987 IEEE International Conference on Robotics and Automation. Raleigh, NC, USA: IEEE, 1987. 326-331
    [6] Back J, Shim H. Adding robustness to nominal output feedback controllers for uncertain nonlinear systems: a nonlinear version of disturbance observer. Automatica, 2008, 44(10): 2528-2537
    [7] Kim Y, Seok J, Noh I, Won S. An adaptive disturbance observer for a two-link robot manipulator. In: Proceedings of the 2008 International Conference on Control, Automation and Systems. Seoul: IEEE, 2008. 141-145
    [8] Katsura S, Irie K, Ohishi K. Wideband force control by position-acceleration integrated disturbance observer. IEEE Transactions on Industrial Electronics, 2008, 55(4): 1699-1706
    [9] Kyung S K, Keun H R, Kim S. Disturbance observer for estimating higher order disturbances in time series expansion. IEEE Transactions on Automatic Control, 2010, 55(8): 1905-1911
    [10] Yamada K, Komada S, Ishida M, Hori T. Robust control of robot manipulators by mimo disturbance observer. In: Proceedings of the 24th Annual Conference of the Industrial Electronics Society. Aachen: IEEE, 1998. 1451-1456
    [11] Demirci M, Gokasan M. MIMO disturbance observer for input-output decoupling with application to 4WAS vehicles. In: Proceedings of the 2011 International Conference on Mechatronics. Istanbul: IEEE, 2011. 90-95
    [12] Güevenç B A, Güevenç L, Karaman S. Robust mimo disturbance observer analysis and design with application to active car steering. International Journal of Robust and Nonlinear Control, 2010, 20(8): 873-891
    [13] Seung H L, Young O L, Youngseop S, Chung C C. Robust active steering control of autonomous vehicles: a state space disturbance observer approach. In: Proceedings of the 11th International Conference on Control, Automation and Systems. Gyeonggi-do, Lorea: IEEE, 2011. 596-598
    [14] Seung H L, Kang H J, Chung C C. Robust fast seek control of a servo track writer using a state space disturbance observer. IEEE Transactions on Control Systems Technology, 2012, 20(2): 346-355
    [15] Oh Y, Chung W K. Disturbance-observer-based motion control of redundant manipulators using inertially decoupled dynamics. IEEE/ASME Transactions on Mechatronics, 1999, 4(2): 133-146
    [16] Chun C W, Tomizuka M. Design of robustly stable disturbance observers based on closed loop consideration using H∞ optimization and its applications to motion control systems. In: Proceedings of the 2004 American Control Conference. Berkeley, CA: IEEE, 2004, 4: 3764-3769
    [17] Thum C K, Du C, Lewis F L, Chen B M, Ong E H. H∞ disturbance observer design for high precision track following in hard disk drives. IEEE Control Theory & Applications, 2009, 3: 1591-1598
    [18] Yin Zheng-Nan, Su Jian-Bo, Liu Yan-Tao. Design of disturbance observer with robust performance based on H∞ norm optimization. Acta Automatica Sinica, 2011, 37(3): 331-341(尹正男, 苏剑波, 刘艳涛. 基于H∞范数优化的干扰观测器的鲁棒设计. 自动化学报, 2011, 37(3): 331-341)
    [19] Yin Zheng-Nan, Su Jian-Bo, Gao Xiu-Xing. Systematic design method of disturbance observer guaranteeing closed-loop system's 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)
    [20] Shim H, Jo N H. An almost necessary and sufficient condition for robust stability of closed-loop systems with disturbance observer. Automatica, 2009, 45(1): 296-299
    [21] Morari M, Zafiriou E. Robust Process Control. Englewood Cliffs, NJ: Prentice-Hall, Inc., 1989.
  • 加载中
计量
  • 文章访问数:  1589
  • HTML全文浏览量:  100
  • PDF下载量:  1178
  • 被引次数: 0
出版历程
  • 收稿日期:  2014-03-26
  • 修回日期:  2014-07-18
  • 刊出日期:  2014-11-20

目录

    /

    返回文章
    返回