Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation
Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation
复制标题
基于UDE的控制器的设计和实验验证--鲁棒输入-输出线性化的观察器结构
DOI：
10.1080/00207179.2011.584352
复制
发表时间：
2011
影响因子：
2.1
通讯作者：
Jaywant P. Kolhe
中科院分区：
文献类型：
--
作者：
S. Talole;T. Chandar;Jaywant P. Kolhe
在这项工作中，不确定性和干扰估计（UDE）技术被用来鲁棒的输入-输出线性化（IOL）控制器。为标称系统设计的IOL控制器通过UDE估计的不确定性来增强，以实现鲁棒性。在这样做时，状态相关的系统的非线性被视为不确定性的一部分，因此，控制器不需要系统的状态，其实施。然而，所得到的控制器需要输出的导数。为了解决这个问题，一个观察员的设计，采用的UDE估计的不确定性的鲁棒性，提出了基于UDE的控制器-观察器结构。建立了整个系统的闭环稳定性。所提出的设计的显着特点是，它既不需要精确的对象模型，也不需要系统状态或输出的导数。该方法也不需要任何关于不确定性的信息。为了证明该方法的有效性，将其应用于机翼-岩石运动控制问题的数值仿真结果。最后，硬件实现的UDE为基础的观测器结构的运动控制的Quanser的直流伺服运动控制平台进行，它表明，所提出的策略提供了一个可行的方法，设计可实现的鲁棒IOL控制器。
In this work, uncertainty and disturbance estimation (UDE) technique is employed to robustify an input--output linearisation (IOL) controller. An IOL controller designed for a nominal system is augmented by the UDE estimated uncertainties to achieve robustness. In doing so, state dependent nonlinearities of the system are treated as a part of the uncertainties and thus, the controller does not require system states for its implementation. The resulting controller, however, needs derivatives of the output. To address the issue, a design of an observer that employs the UDE estimated uncertainties for robustness is proposed giving rise to the UDE based controller--observer structure. Closed loop stability of the overall system is established. The notable feature of the proposed design is that it neither requires accurate plant model nor system states or derivatives of output. Also the approach does not need any information about the uncertainty. To demonstrate the effectiveness, numerical simulation results of the proposed approach as applied to the wing-rock motion control problem are presented. Lastly, hardware implementation of the UDE based controller-observer structure for motion control of Quanser's DC servo motion control platform is carried out and it is shown that the proposed strategy offers a viable approach for designing implementable robust IOL controllers.