Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(L/N)DUE
(L/N)DUEA
UDE
UIO
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
yr
!
ey
C ( s)
c
!
u !
dl
Q(s)
G (s)
!
dl
Gn 1 ( s )
n
y
Disturbance Observer
Fig. 1.
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2)
(3)
(5)
(7)
with
h(t) = f(x1 , x2 , , xn , d, t).
(8)
ESO is designed to estimate all the states and lumped disturbance term f , given by [5], [13]
{
x
i = x
i+1 + i (y x
1 ), i = 1, , n,
(9)
x
n+1 = n+1 (y x
1 ).
It is obvious that both the influences of model dynamics
(including unmodelled dynamics and uncertainty) and external
disturbance are estimated in the ESO. Only the relative degree
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(11)
x
= A
x + Bu u + Lx (y y) + Bd d,
(12)
y = C x
,
and
= W + Ld (y y),
d = V ,
(13)
where x
and Lx are the estimate of the state vector x and
the state observer gain to be designed. d is the estimate of the
disturbance d, is the estimate of and Ld is the observer gain
(14)
(16)
(17)
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
d = Q(s)d,
(18)
where Q(s) is given by
Q(s) =
1
.
Tq s + 1
(19)
Bu+ L(y
y) + d
(20)
Tq d + d = d,
(21)
d =
B L(y y).
Tq u
(22)
x
i = x
i+1 + i (y x
1 ), i = 1, , n 1,
x
n = bu + 1 + n (y x
1 ),
i = i+1 + i (y x
),
i = 1, , q 1,
1
q = q (y x
1 ),
(23)
where x
i is the estimate of the state xi , and i is the estimate
of the lumped disturbance term f [i1] (x, d).
Similar to the design philosophy of ESO, the convergence
of GPIO can be achieved by chosen appropriate observer
gains i and i . It has been reported that the GPIO is a
generalized version of ESO since by setting q = 1, the GPIO
(23) reduces to the linear ESO (9). The GPIO shall provide
higher estimation accuracy in the presence of higher-order
time-varying disturbances. In particular, it could achieve offset
free estimation for disturbance with a time series polynomial
form, that is, f [q] (x, d) = 0.
The essential principle for GPIO to achieve higher precision
disturbance estimation lies in that more information (actually,
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
p(x)
.
x
(26)
= z + p(x), d = V .
It has been shown in [34] that the NDOB (28) can exponentially estimate the disturbances if the nonlinear observer gain
l(x) is selected such that e = [W l(x)g2 (x)V ]e is globally
exponentially stable regardless of x. By the use of strictly
positive real lemma, a systematic method to choose a nonlinear
observer gain function satisfying the stability condition has
been developed in [34].
(29)
F + x = F + f (x, u, t) + d(t),
(30)
(31)
where d0 , d1 , , dq are constant but unknown. A higherorder disturbance observer for estimating the disturbances in
Eq.(31) is proposed in [41], given by
{
z = F + f (x, u, t) + 0 g0 (t) + + q gq (t),
(32)
d = 0 g0 (t) + + q gq (t),
{
with
gk (t) =
F + x z,
t
g
( )d,
0 k1
(k = 0),
(k 1),
(33)
y = Cx,
is considered where x Rn and z Rm are the state
variables, u R is the control input, y R is the measured
output, and d R is a disturbance. The nonlinear functions
a() and b() are assumed to be continuously differentiable
with locally Lipschitz derivatives, a() a0 with a known
0 > 0, and f0 () is locally Lipschitz. The disturbance d(t) is
T
0 1 0 0
0
1
0 0 1 0
0
0
A = ... ... . . . . . . ... , Bu = ... , C = ... .
0 0
0
0
0 1
0 0 0
1
0
(35)
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
= A
x + Bu b(
x) + a
(
x)u + x
n+1
x
(36)
+H()(y C x
),
n+1
x
n+1 = n+1 (y C x
),
where a
() a0 > 0 and b() are twice continuously
differentiable and globally bounded functions that model a()
and b(), respectively. H() is designed as
[
]T
1
n
H() =
, , n
,
(37)
where uf is generated by a normal feedback based on the measurements (e.g. output feedback in the classic transfer function
approach or state feedback in the state space approach), and ud
depends on the estimate of the disturbances or the uncertainties. As a typical example shown in Fig. 1, the normal feedback
loop is designed separately from DUE in DOBC, which is
important in facilitating the design in meeting (conflicting)
criteria and providing the flexibility in integrating different
feedback design methods with different DUE techniques. The
former allows a designer to focus on tracking performance and
stability when designing the feedback loop and on disturbance
rejection and robustness against uncertainties when designing
the compensation loop. This separation principle, somehow
similar to the separation principle in linear state observer based
control where a feedback controller is designed separately
from the design of a state observer [49], greatly simplifies the
design process of DUEA. The flexibility in integration enables
a designer to add a disturbance and uncertainty estimator
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
able to deal with mismatched disturbance/uncertainty (for example, [28] for ADRC), it is required to transform mismatched
disturbance/uncertainty into the matched one first and then the
method could be applied.
Disturbance Accommodation Control (DAC) was developed
for a linear system subject to a general class of external
disturbances in [29]. Consider the system (10) driven by a
disturbance generated from the model described by (11). It
is assumed that rank(Bd ) = q and Bd = Bu for some
where q is the dimension of the disturbance d. This assumption
implies that the disturbance d satisfies the matching condition
as it can be transformed to the input channels by a matrix .
Under this assumption and in the case that all the states are
available, the DAC is proposed as [29]
{
u = Kx x + V ,
(39)
= W + Ex,
where
Kx = K V P,
E = P (A + Bu K) W P,
P = L[BdT Bd ]1 BdT ,
u = Kx x + Kd d.
(42)
In the case that the state variables are unmeasurable, the
UIO or ESO can be employed. The composite control law in
this case is designed as
(40)
and the matrices (K, L) are designed such that the matrices
A + BK and W + LV are Hurwitz stable. The above result
has been generalized to the case that not all the state is
measurable. Although the original results were developed for
external disturbance compensation, DAC has been extended to
deal with uncertainty and is regarded as an adaptive control
method; for example, see [30], [51].
u = Kx x
+ Kd d,
where x
and d are yielded by state and disturbance observers.
Now we consider a single-input single-output nonlinear
system (24). The disturbance can be removed from the output
channel in steady state by the following composite control law
[56]
(43)
Lf h(x)
Lg L1
h(x)
f
, (x) =
1
,
Lg L1
h(x)
f
ci Lif h(x),
(46)
i=0
Hierarchical
Anti-Disturbance
Control
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
10
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
11
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
[44] W.-H. Chen, D.J. Ballance, P.J. Gawthrop, J.J. Gribble, and J. OReilly.
Nonlinear PID predictive controller. IEE Proc.-Control Theory Appl.,
146(6):603611, 1999.
[45] W.-H. Chen and L. Guo. Analysis of disturbance observer based control
for nonlinear systems under disturbances with bounded variation. In
Proceedings of International Conference on Control, Bath, UK, 2004.
[46] L.B. Freidovich and H.K. Khalil. Performance recovery of feedbacklinearization-based designs. IEEE Trans. Autom. Control, 53(10):2324
2334, 2008.
[47] S. Nazrulla and H.K. Khalil. Robust stabilization of non-minimum phase
nonlinear systems using extended high-gain observers. IEEE Trans.
Autom. Control, 4(56):802813, 2011.
[48] H.K. Khalil and L. Praly. High-gain observers in nonlinear feedback
control. Int. J. Robust Nonlinear Control, 6(24):9931015, 2014.
[49] R.C. Dorf and R.H. Bishop. Modern Control Systems, 12th ed. Prentice
Hall, 2011.
[50] B.R. Barmish and G. Leitmann. On ultimate boundness control of
uncertain systems in the absence of matching assumption. IEEE Trans.
Autom. Control, 27(1):153158, 1982.
[51] C.D. Johnson.
Adaptive controller design using disturbanceaccommodation techniques. Int. J. Control, 42(1):193210, 1985.
[52] J. Yang, W.-H. Chen, and S. Li. Robust autopilot design of uncertain
bank-to-turn missiles using state-space disturbance observers. Proc. Inst.
Mech. Eng. Part G-J. Aerosp. Eng., 226:97107, 2012.
[53] Y.A.R.I. Mohamed. Design and implementation of a robust currentcontrol scheme for a PMSM vector drive with a simple adaptive
disturbance observer. IEEE Trans. Ind. Electron., 54(4):19811988,
2007.
[54] R.K. Stobart, A. Kuperman, and Q.-C. Zhong. Uncertainty and Disturbance EstimatorBased Control for Uncertain LTI-SISO Systems With
State Delays. J. Dyn. Syst. Meas. Control-Trans. ASME, 133(2):024502,
2011.
[55] X.J. Wei and L. Guo. Composite disturbance-observer-based control
and H-infinity control for complex continuous models. Int. J. Robust
Nonlinear Control, 20(1):106118, 2010.
[56] J. Yang, W.-H. Chen, S.H. Li, and X.S. Chen. Static disturbanceto-output decoupling for nonlinear systems with arbitrary disturbance
relative degree. Int. J. Robust Nonlinear Control, 23(5):562577, 2013.
[57] J. Yang, S.H. Li, and W.-H. Chen. Nonlinear disturbance observerbased control for multi-input multi-output nonlinear systems subject to
mismatching condition. Int. J. Control, 8(85):10711082, 2012.
[58] H.B. Sun, S.H. Li, J. Yang, and W.X. Zheng. Global output regulation
for strict-feedback nonlinear systems with mismatched nonvanishing
disturbances. Int. J. Robust Nonlinear Control, Pulished Online.
[59] S.H Li, H.B. Sun, J. Yang, and X.H. Yu. Continuous finite-time output
regulation for disturbed systems under mismatching condition. IEEE
Trans. Autom. Control, 60(1): 277282, 2015.
[60] J. Yang, S.H. Li, J.Y. Su, and X.H. Yu. Continuous nonsingular
terminal sliding mode control for systems with mismatched disturbances.
Automatica, 49(7): 22872291, 2013.
[61] J. Yang, J.Y. Su, S.H. Li, and X.H. Yu. High-order mismatched
disturbance compensation for motion control systems via a continuous
dynamic sliding-mode approach. IEEE Trans. Ind. Inform., 10(1): 604
614, 2014.
[62] L. Guo and X.Y. Wen. Hierarchical anti-disturbance adaptive control
for nonlinear systems with composite disturbances and applications to
missile systems. Trans. Inst. Meas. Control, 8(33):942956, 2011.
[63] L. Guo and S. Cao. Anti-Disturbance Control for systems with Multiple
Disturbances. CRC Press, London, 2013.
[64] P.K. Sinha and A.N. Pechev. Model reference adaptive control of a
maglev system with stable maximum descent criterion. Automatica,
35(8):14571465, 1999.
[65] I. Takahashi and Y. Ide. Decoupling control of thrust and attractive force
of a LIM using a space vector control inverter. IEEE Trans. Ind. Appl.,
29(1):161167, 1993.
[66] H. Oh and W. Chung. Disturbance-observer-based motion control of
redundant manipulators using inertially decoupled dynamics. IEEEASME Trans. Mechatron., 4(2):133146, 1999.
[67] J. Yang, W.X. Zheng, S. Li, B, Wu and M. Cheng. Design of a prediction
accuracy enhanced continuous-time MPC for disturbed systems via a
disturbance observer. IEEE Trans. Ind. Electron., 62(9):5807-5816,
2015.
[68] Y. Huang and W. Messner. A novel disturbance observer design for
magnetic hard drive servo system with a rotary actuator. IEEE Trans.
Magn., 34(4):18921894, 1998.
12
[69] J. Yang, S.H. Li, X.S. Chen, and Q. Li. Disturbance rejection of deadtime processes using disturbance observer and model predictive control.
Chem. Eng. Res. Des., 89(2):125135, 2011.
[70] X.S. Chen, J. Li, J. Yang, and S.H. Li. A disturbance observer enhanced
composite cascade control with experimental studies. Int. J. Control
Autom. Syst., 3(11):555562, 2013.
[71] K. Li, D.W. Li, Y.G. Xi, and D.B. Yin. Model predictive control with
feedforward strategy for gas collectors of coke ovens. Chin. J. Chem.
Eng., 7(22):769773, 2014.
[72] Q. Zheng and Z. Gao. An energy saving, factory-validated disturbance
decoupling control design for extrusion processes. In Proceedings of
the 10th World Congress on Intelligent Control and Automation, pp.
28912896, 2012.
[73] X.S. Chen, J. Yang, S.H. Li, and Q. Li. Disturbance observer based
multivariable control of ball mill grinding circuits. J. Process Control,
19(7):10251031, 2009.
[74] P. Zhou, W. Dai, and T.Y. Chai. Multivariable disturbance observer
based advanced feedback control design and its application to a grinding
circuit. IEEE Trans. Control Syst. Technol., 4(22):14711485, 2014.
[75] S. Li and J. Yang. Robust autopilot design for bank-to-turn missiles using
disturbance observers. IEEE Trans. Aerosp. Electron. Syst., 1(49):558
579, 2013.
[76] J. Yang, S. Li, C. Sun, and L. Guo. Nonlinear-disturbance-observerbased robust flight control for airbreathing hypersonic vehicles. IEEE
Trans. Aerosp. Electron. Syst., 1(49):160169, 2013.
[77] S.N. Wu, X.Y. Sun, Z.W. Sun, and X.D. Wu. Sliding-mode control for
staring-mode spacecraft using a disturbance observer. Proc. Inst. Mech.
Eng. Part G-J. Aerosp. Eng., 224(G2):215224, 2010.
[78] S.I. Addington and C.D. Johnson.
Dual-mode disturbanceaccommodating pointing controller for hubble space telescope. J. Guid.
Control Dyn., 18(2):200207, 1995.
[79] H. Liu and L. Guo. An anti-disturbance PD control scheme for
attitude control and stabilization of flexible spacecrafts. Nonlinear Dyn.,
3(67):20812088, 2012.
[80] S. Cao and L. Guo. Multi-objective robust initial alignment algorithm
for inertial navigation system with multiple disturbances. Aerosp. Sci.
Technol., 1(21):16, 2012.
[81] Panasonic, Operating Instructions (Overall), AC Servo Motor & Driver
MINAS A5-series, 2009.
[82] www.estun.com/product/jiao-liu-si-fu-xi-tong-ji-yun-dong-kong-zhi-jiejue-fang-an/si-fu-qu-dong/edbedc-xi-lie-si-fu-qu-dong-qi.
[83] Texas Instruments. Technical reference manual for TMS320F28069M,
TMS320F28068M InstaSPIN-MOTION software. pp. 157, 2014.
[84] Z. Gao. Scaling and bandwidth-parameterization based controller tuning.
In Proceedings of American Control Conference, pp. 49894996, 2003.
[85] Q. Zheng and Z. Gao. On practical applications of active disturbance
rejection control. In Proceedings of 29th Chinese Control Conference,
pp. 60956100, 2010.
[86] B.Z. Guo and Z.L. Zhao. On convergence of the nonlinear active
disturbance rejection control for MIMO systems. SIAM J. Control
Optim., 51(2):17271757, 2013.
[87] B. Jiang and F.N. Chowdhury. Fault estimation and accommodation for
linear mimo discrete-time systems. IEEE Trans. Control Syst. Technol.,
13(3):493499, 2005.
[88] K. Ohnishi. Real world haptics and telehaptics for medical applications.
In 2010 IEEE International Symposium on Industrial Electronics, pp.
1114.
Wen-Hua Chen (SM06) received the M.Sc. and
Ph.D. degrees from Northeast University, Shenyang
China, in 1989 and 1991, respectively.
From 1991 to 1996, he was a Lecturer and then
Associate Professor with the Department of Automatic Control, Nanjing University of Aeronautics
and Astronautics, Nanjing, China. From 1997 to
2000, he held a research position and then a Lecturer
in control engineering with the Centre for Systems
and Control, University of Glasgow, Glasgow, UK.
In 2000, he moved to the Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough,
UK, as a Lecturer, where he was appointed as a Professor in 2012. His research
interests include the development of advanced control strategies (Nonlinear
Model Predictive Control, Disturbance Observer Based Control, etc.) and their
applications in aerospace and automotive engineering. Currently, much of
his work has also involved in the development of Unmanned Autonomous
Intelligent Systems.
He is a Senior Member of IEEE and a Fellow of IET.
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2015.2478397, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
13