Design of a nonlinear disturbance observer
Design of a nonlinear disturbance observer
复制标题
DOI：
10.1109/41.836359
复制
发表时间：
2000-04
期刊：
影响因子：
--
通讯作者：
Xinkai Chen;S. Komada;T. Fukuda
中科院分区：
文献类型：
--
作者：
Xinkai Chen;S. Komada;T. Fukuda
本文针对具有任意相对阶数的最小相位（就干扰与输出之间的关系而言）动态系统，提出了一种基于变结构系统理论的新型干扰观测器。系统的模型不确定性和非线性部分被合并到干扰项中，并被视为干扰的一部分。假设干扰的上下界作为先验信息是已知的。给出的仿真结果表明了新型干扰观测器的鲁棒性和有效性。实验结果表明了新型观测器的实用性。
This paper presents a new disturbance observer based on the variable structure system theory for minimum-phase (with respect to the relationship between the disturbance and output) dynamical systems with arbitrary relative degrees. The model uncertainties and the nonlinear parts of the system are merged into the disturbance term and are regarded as a part of the disturbances. The upper and lower bounds of the disturbance are assumed to be known as a priori information. Simulation results are presented to show the robustness and effectiveness of the new disturbance observer. Experimental results show the practicality of the new observer.