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ADRC BASED INPUT DISTURBANCE REJECTION FOR MINIMUM-PHASE PLANTS WITH UNKNOWN ORDERS AND/OR UNCERTAIN RELATIVE DEGREES

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Journal of Systems Science & Complexity 2012年第4期25卷 625-640页

作者： Chunzhe ZHAO Yi HUANG School of Computer Science and Engineering Chongqing Three Gorges University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences

The capability of ADRC is studied for linear time-invariant SISO minimum-phase systems with unknown orders, uncertain relative degrees, and unknown input disturbances. It is proved that ADRC can reject the unknown input disturbance and guarantee the close-loop stability for the plants with unknown but bounded relative degrees. Meanwhile, some close-loop performances can be achieved. The influence of the sensor noise is also discussed. And it is demonstrated by numerical examples that one ADRC with fixed parameters can be applied to a group of plants of different orders, relative degrees, and parameters.

关键词： ADRC frequency performance sensor noise uncertain relative degree unknown input disturbance unknown order.

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Observer-based motion axis control for hydraulic actuation systems

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中国航空学报:英文版 2023年第9期36卷 408-415页

作者： Xiaowei YANG Yaowen GE Wenxiang DENG Jianyong YAO School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

Unknown dynamics including mismatched mechanical dynamics(i.e.,parametric uncertainties,unmodeled friction and external disturbances)and matched actuator dynamics(i.e.,pressure and flow characteristic uncertainties)broadly exist in hydraulic actuation systems(HASs),which can hinder the achievement of high-precision motion axis *** surmount the practical issue,an observer-based control framework with a simple structure and low computation is developed for ***,a simple observer is utilized to estimate mismatched and matched unknown dynamics for feedforward *** combining the backstepping design and adaptive control,an appropriate observer-based composite controller is provided,in which nonlinear feedback terms with updated gains are adopted to further improve the tracking ***,a smooth nonlinear filter is introduced to shun the“explosion of complexity”and attenuate the impact of sensor noise on control *** a result,this synthesized controller is more suitable for practical *** analysis uncovers that the developed controller assures the asymptotic convergence of the tracking *** merits of the proposed approach are validated via comparative experiment results applied in an HAS with an inertial load as well.

关键词： Adaptive control Asymptotic convergence Hydraulic actuation system sensor noise Unknown dynamics compensation

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