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Disturbance Observer-Based Control

Methods and Applications

By Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen

CRC Press – 2014 – 340 pages

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    978-1-46-651579-6
    February 20th 2014

Description

Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control(DOBC)is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applications in motion and process control that have already benefited numerous organizations.

Supplying authoritative guidance in the areas of disturbance estimation and compensation for practical engineering systems, the book includes coverage of theoretic methods and practical applications of disturbance estimation and compensation for control systems through a DOBC approach. It considers applications in flight control systems, motion control systems, and process control systems.

  • Supplies an authoritative overview of disturbance observer based control approaches
  • Reports on recent developments in disturbance estimation techniques
  • Considers matched and mismatched disturbance/uncertainty attenuation for DOBC
  • Illustrates applications of the methods covered with detailed engineering case studies

Filled with valuable insights gathered over decades of research by the authors, this book provides time- and stress-saving guidance for anyone interested in the theory and method research of DOBC. Using typical engineering examples, the text provides readers with an understanding of recent developments in DOBC as well as the tools required to make the most of this promising approach to disturbance-attenuation.

Contents

OVERVIEW

Overview

Introduction

Motivations

High-Gain Control

Integral Control

Disturbance Observer-Based Control

Basic Framework

Frequency Domain Formulation

Time Domain Formulation

Early History

An Overview on Disturbance Estimation Approaches

Linear Disturbance Observer

Nonlinear Disturbance Observer

An Overview of Disturbance Estimation-Based Control Approaches

Robustness Performance and Stability

Composite Hierarchical Anti-DisturbanceControl

Compensation of Mismatched Disturbances

DISTURBANCE ESTIMATION DESIGN

Linear Disturbance Estimator

Introduction

Frequency Domain Disturbance Observer

Minimum-Phase Case

Nonminimum Phase Case

Time Domain Disturbance Observer

Extended State Observer

Summary

Basic Nonfinear Disturbance Observer

Introduction

Nonlinear Disturbance Observer for Constant Disturbances

A Basic Formulation

An Enhanced Formulation

Nonlinear Disturbance Observer for General Exogenous Disturbances

A Basic Formulation

An Enhanced Formulation

Summary

Advanced Nonfinear Disturbance Observer

Introduction

High-Order Disturbance Observer

Constant Disturbance Case

Ramp Disturbance Case

High-Order Disturbance Case

Extended High-Gain State Observer

Finite-Time Disturbance Observer

Summary

DISTURBANCE OBSERVER-BASED CONTROL DESIGN

Disturbance Observer-Based Control for Nonfinear Systems

Introduction

A General Design Framework

Nonlinear Disturbance Observer-Based Control (NDOBC)

Nonlinear Disturbance Observer

Composite Controller Design

Example Study

Summary

Generalized Extended State-Observer-Based Control for Systems with Mismatched Uncertainties

Introduction

Generalized Extended-State Observer-Based Control (GESOBC)

Composite Control Design

Stability and Disturbance Rejection Analysis

Case of Measurable States

Case of Unmeasurable States

Simulation Example

Further Discussions

Extension to MIMO System

Solvability of the Disturbance Compensation Gain

Controllable Condition

Parameter Design for GESOBC

Summary

Nonfinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties

Introduction

Problem Formulation

Novel Nonlinear Disturbance Observer-Based Control

Controller Design

Stability Analysis

Disturbance Attenuation Analysis

Application to A Nonlinear Missile

Longitudinal Dynamics of A Missile System

Nonlinear Dynamic Inversion Control

Nonlinear Disturbance Observer-Based Robust Control

Simulation Studies

External Disturbance Rejection Ability

Robustness Against Model Uncertainties

Summary

Nonfinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative Degrees

Introduction

Problem Formulation

NDOBC for SISO Nonlinear System with Arbitrary DRD

Control Law Design

Stability Analysis

NDOBC for MIMO Nonlinear Systems with Arbitrary DRDs

Control Law Design

Stability Analysis

An Illustrative Example

Summary

Linear/Nonfinear Disturbance Observer-Based Sliding Mode Control for Systems with Mismatched Uncertainties

Introduction

Linear Disturbance Observer-Based Sliding-Mode Control

Problems of the Existing SMC Methods

Novel SMC Method Based on a Disturbance Observer

Control Design

Stability Analysis

An Illustrative Example

Nominal Performance Recovery

Chattering Reduction

Nonlinear Disturbance Observer-Based Nonsingular Terminal Sliding-Mode Control

Problem of the Existing NTSMC Methods

Novel NTSMC Method Based on a Finite-Time Disturbance Observer

Finite-Time Disturbance Observer

Control Design and Stability Analysis

An Illustrative Example

Summary

APPLICATION TO PROCESS CONTROL SYSTEMS

Application to Process Control Systems

Introduction

System Modeling of Level Tank

Disturbance Rejection Control Design and Implementation

Model Predictive Control

Disturbance Observer-Enhanced Model Predictive Control

Control Implementation

Simulation and Experimental Studies

Simulation Results and Analysis

Experimental Results and Analysis

Summary

Disturbance Rejection for Ball Mill Grinding Circuits

Introduction

Process Description

Process Background

Description of Grinding Circuit

Control Scheme

Multivariable MPC Algorithm

Disturbance Observer for Process with Time Delays

DOB-MPC Scheme for Ball Mill Grinding Circuits

Performance Analysis and Comparisons

Disturbance Rejection in Nominal Case

Disturbance Rejection in Model Mismatch Case

Summary

APPLICATION TO MECHATRONIC SYSTEMS

Disturbance Rejection for Magnetic Leviation Suspension System

Introduction

Problem Formulation

Nonlinear MAGLEV Suspension Dynamics

Model Linearization

Problem Formulation

DOBC Design

Simulations and Analysis

External Disturbance Rejection Performance

Robustness Against Load Variation

Summary

Disturbance Rejection for Permanent Magnet Synchronous Motors

Introduction

Problem Description

Control Strategy

The Principle of ESO-Based Control Method

Speed Controller Design

Current Controller Design

Simulation and Experimental Results

Simulation Results

Experimental Results

Summary

APPLICATION TO FLIGHT CONTROL SYSTEMS

Disturbance Rejection for Small-Scale Helicopters

Introduction

Helicopter Modeling

Explicit Nonlinear MPC With Disturbances

Output Approximation

Explicit Nonlinear MPC Solution

Disturbance Observer-Based Control

Disturbance Observer

Composite Controller

Stability Analysis

Simulation and Experiment

Summary

Disturbance Rejection for Bank-to-Turn Missiles

Introduction

Pitch/Yaw Dynamic Models of BTT Missiles

Disturbance Observers

Disturbance Observer-Based Robust Control

Feedback Control Design

Stability Analysis of Closed-Loop System

Design of Disturbance Compensation Gain

Simulation Studies

External Disturbance Rejection Performance

Robustness Against Model Uncertainties

Summary

Disturbance Rejection for Airbreathing Hypersonic Vehicles

Introduction

Problem Formulation

Longitudinal Dynamics of a Generic AHV

Problem Formulation

Nonlinear Disturbance Observer-Based Robust Flight Control

Composite Control Law Design

Stability Analysis

Simulation Studies

External Disturbance Rejection

Robustness Against Parameter Uncertainties

Summary

Bibliography

Index

Author Bio

Shihua Li was born in Pingxiang, Jiangxi Province, China in 1975. He received his bachelor, master, and Ph.D. degrees all in Automatic Control from Southeast University, Nanjing, China in 1995, 1998 and 2001, respectively. Since 2001, he has been with School of Automation, Southeast University, where he is currently a professor. His main research interests include nonlinear control theory with applications to robots, spacecraft, AC motors and other mechanical systems. He’s senior member of IEEE, published over 100 academic papers in journals including Automatica, IEEE Transactions on Automatic Control, IEEE Transactions on Industrial Electronics, International Journal of Systems Science, International Journal of Control, Aerospace Science and Technology, etc..

Jun Yang received his B.S. degree in the Department of Automatic Control from Northeastern University, Shenyang, China in 2006. In 2011, he received the Ph.D. degree in control theory and control engineering from School of Automation, Southeast University, Nanjing, China, where he is currently a lecturer. His research interests include disturbance estimation and compensation, advanced control theory and its application to flight control systems, motion control systems and process control systems.

Wen-Hua Chen received his M.S. and Ph.D. degrees from Department of Automatic Control at Northeast University, China, in 1989 and 1991, respectively. From 1991 to 1996, he was a lecturer in Department of Automatic Control at Nanjing University of Aeronautics and Astronautics, China. He held a research position and then a lectureship in control engineering in Centre for Systems and Control at University of Glasgow, UK, from 1997 to 2000. He currently holds a senior lectureship in flight control systems in Department of Aeronautical and Automotive Engineering at Loughborough University, UK. He has published more than 100 articles in journals and conferences. His research interests include the development of advanced control strategies and their applications in aerospace engineering.

Xisong Chen received his B.S. degrees from School of Electronic Science and Engineering at Jilin University, China, in 1992. He received his M.S. and Ph.D. degrees from School of Automation at Southeast University, in 2002 and 2009, respectively. Since 2002, he has been with School of Automation, Southeast University, where he is currently a professor. His research interests include advanced control strategies, disturbance attenuation methods and their applications in process control engineering.

Name: Disturbance Observer-Based Control: Methods and Applications (Hardback)CRC Press 
Description: By Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen. Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control(DOBC)is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based...
Categories: Industrial Electronics, Intelligent Systems, Systems & Controls