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
收藏
页码：61377 / 61385
页数：9
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