Analysis of Disturbance Observer Based Control for Nonlinear Systems under Disturbances with Bounded Variation
Analysis of Disturbance Observer Based Control for Nonlinear Systems under Disturbances with Bounded Variation
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发表时间：
2004
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通讯作者：
Wen‐Hua Chen;Lei Guo
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作者：
Wen‐Hua Chen;Lei Guo
本文采用基于干扰观测器的控制（DOBC）方法研究具有未知干扰的非线性系统的控制问题。所涉及的干扰被假定为时变的，但变化有界。对于从干扰到输出具有明确相对度的非线性系统，提出了一种非线性干扰观测器来估计未知干扰，然后利用基于干扰观测器的技术将其与常规控制器相结合。利用李雅普诺夫理论和输入到状态稳定概念，对复合闭环系统进行了稳定性和性能分析。
— Control of nonlinear systems with unknown disturbances is considered in this paper using disturbance observer based control (DOBC) approach. The disturbances concerned are supposed to be time-varying but with bounded variation. For a nonlinear system with well-defined relative degree from the disturbances to the output, a nonlinear disturbance observer is presented to estimate the unknown disturbances and then is integrated with a conventional controller using disturbance observer based techniques. Stability and performance analysis of the composite closed-loop system is provided using Lyapunov theory and input-to-state stable concept.