1st Edition
Disturbance Observer-Based Control Methods and Applications
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.
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
Biography
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.
