UDE-Based Robust Output Feedback Control With Applications to a Piezoelectric Stage
UDE-Based Robust Output Feedback Control With Applications to a Piezoelectric Stage
复制标题
DOI：
10.1109/tie.2019.2941169
复制
发表时间：
2020-09-01
影响因子：
7.7
通讯作者：
Zhong, Qing-Chang
中科院分区：
文献类型：
--
作者：
Ren, Beibei;Dai, Jiguo;Zhong, Qing-Chang
针对一类具有输入有界输出稳定性且存在输入和输出扰动的非线性单输入单输出系统，提出了一种基于不确定性和扰动估计器（UDE）的鲁棒输出反馈控制方法。代替直接为原系统设计控制器，一个等效系统由一个一阶线性系统加上一个集总不确定项来表示输入输出关系。然后，基于微分方程的鲁棒控制器的设计只使用系统的输出反馈和开环系统的带宽，使设计几乎无模型。所提出的方法的一个突出优点是，它已经转换成一个直观的滤波器设计问题的一个具有挑战性的鲁棒控制问题。在存在迟滞非线性的实验压电平台上验证了所提出方法的有效性。
In this article, an uncertainty and disturbance estimator (UDE)-based robust output feedback control technique without using a state observer is proposed for a general class of nonlinear single-input single-output systems that are bounded-input bounded-output stable and subject to input and output disturbances. Instead of designing a controller for the original system directly, an equivalent system consisting of a first-order linear system plus a lumped uncertainty term is used to represent the input-output relationship. Then, a UDE-based robust controller is designed only using the system output feedback and the bandwidth of the open-loop system, making the design almost modeling-free. A prominent advantage of the proposed approach is that it has converted a challenging robust control problem into an intuitive filter design problem. The effectiveness of the proposed approach is validated on an experimental piezoelectric stage in the presence of hysteresis nonlinearity.