Generalized-Extended-State-Observer-Based Repetitive Control for MIMO Systems With Mismatched Disturbances

被引：14

作者：

Zhou, Lan ^{[1
]}

She, Jinhua ^{[2
,3
,4
]}

机构：

[1] Hunan Univ Sci & Technol, Sch Informat & Elect Engn, Xiangtan 411201, Peoples R China

[2] China Univ Geosci, Sch Automat, Wuhan 430074, Hubei, Peoples R China

[3] China Univ Geosci, Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Hubei, Peoples R China

[4] Tokyo Univ Technol, Sch Engn, Tokyo 1920982, Japan

来源：

IEEE ACCESS | 2018年 / 6卷

基金：

中国国家自然科学基金;

关键词：

Repetitive control; generalized extended state observer; disturbance rejection; mismatched disturbance; APERIODIC DISTURBANCE; FEEDBACK-CONTROL; SERVO SYSTEM; REJECTION; DESIGN; DELAY;

D O I：

10.1109/ACCESS.2018.2876398

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper concerns the problem of designing a modified repetitive-control system based on a generalized extended state observer (GESO) for a class of multi-input, multi-output systems in the form of a nonintegral chain and with mismatched disturbances. A GESO is constructed to estimate a lumped disturbance in a real-time fashion. Then, an improved repetitive control law is developed to attenuate the influence of the lumped disturbance from the output channel. A correction to the amount of the delay of the repetitive controller is introduced to further reduce the steady-state tracking error. A stability criterion and a design algorithm are presented. Finally, simulations and comparisons with other methods demonstrate the validity of this method.

引用

页码：61377 / 61385

页数：9

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