Disturbance Rejection and Control System Design Using Improved Equivalent Input Disturbance Approach

被引：81

作者：

Du, Youwu ^{[1
,2
,3
,4
]}

Cao, Weihua ^{[1
,3
]}

She, Jinhua ^{[1
,3
,5
]}

Wu, Min ^{[1
,3
]}

Fang, Mingxing ^{[2
]}

Kawata, Seiichi ^{[4
]}

机构：

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

[2] Anhui Normal Univ, Sch Phys & Elect Informat, Wuhu 241000, Peoples R China

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

[4] Adv Inst Ind Technol, Grad Sch Ind Technol, Tokyo 1400011, Japan

[5] Tokyo Univ Technol, Sch Engn, Hachioji, Tokyo 1920982, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2020年 / 67卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Observers; Stability analysis; Automation; Position control; Robust control; Disturbance estimation; disturbance rejection; equivalent input disturbance (EID); robust control; stability analysis; state observer; TRACKING CONTROL; SLIDING-MODE; STATE DELAY; OBSERVER; ROBUSTNESS; FORCE;

D O I：

10.1109/TIE.2019.2913829

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 presents an improved equivalent input disturbance (EID) approach to deal with exogenous disturbances and system nonlinearities. The disturbances and nonlinearities are regarded as a lumped disturbance on the control input channel. The EID approach, which has a state observer and an EID estimator, is used to estimate the lumped disturbance. There is a constraint between the observer and the estimator on the design of the control system for the conventional EID approach. A stable zero was added to the estimator to remove the constraint and to improve the stability of the system in this paper. This ensures that the observer and the estimator can be designed independently. An analysis of the improved EID approach explains the mechanism of disturbance rejection. The simulation and experimental results of position control of a ball-and-beam system demonstrate the validity of the method.

引用

页码：3013 / 3023

页数：11

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