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干扰观测器 陈文华.pdf

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陈文华的Disturbance Observer-Based Control(非线性干扰观测器控制)January22,2014103K15053C000DisturbanceObserver-BasedControlMethods and ApplicationsShihua li· Jun YangWen-Hua Chen. Xisong Chenc CRC PressBoca raton london new yorkCRC Press is an imprint of theTaylor francis Group, an informa businessCRC PressTaylor Francis group6000 Broken Sound Parkway NW, Suite 300Boca raton FL 33487-2742@2014 by Taylor Francis Group, LLCCRC Press is an imprint of Taylor Francis Group, an Informa businessNo claim to original U.S. Government worksVersion date: 20140117International Standard Book Number-13: 978-1-4665-1580-2 (eBook-PDF)This book contains information obtained from authentic and highly regarded sources. Reasonable effortshave been made to publish reliable data and information, but the author and publisher cannot assumeresponsibility for the validity of all materials or the consequences of their use. The authors and publishershave attempted to trace the copyright holders of all material reproduced in this publication and apologize tocopyright holders if permission to publish in this form has not been obtained. If any copyright material hasnot been acknowledged please write and let us know so we may rectify in any future reprintExcept as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit-ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented,including photocopying, microfilming, and recording, or in any information storage or retrieval system,without written permission from the publishersForpermissiontophotocopyorusematerialelectronicallyfromthisworkpleaseaccesswww.copyrightcom(http://www.copyright.com/)orcontacttheCopyrightClearanceCenter,Inc.(ccc),222RosewoodDrive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses andregistration for a variety of users. For organizations that have been granted a photocopy license by the CCC,a separate system of payment has been arrangedTrademark Notice: Product or corporate names may be trademarks or registered trademarks, and are usedonly for identification and explanation without intent to infringeVisit the taylor francis Web site athttp://www.taylorandfrancis.comand the crc press Web site athttp://www.crcpress.comJanuary22,2014103K15053C000To my wife Xiamei Huang with appreciation and love. Without her durativesupport behind me, there is no way for me to maintain a stable tracking controltoward the desired research target. To my daughter Huangyu(lisa)Li with love.She always brings me happiness and inspirationShihua( Sandy) LiTo my parents Heyu Yang and Aiqing Li, my wife Yanan Wei,and my son Haoyu Yang for their endless support and loveun YangTo my parentsWen-Hua CheTo my wife and sonXigCheJanuary22,2014103K15053C000ContentsguresList of tables…4XxiPreface.About the authors.SECTION I OVERVIEWoVerview.......1.2 Motivations…1.2.1 High-Gain Control1. 2.2 Integral Control1.3 Basic Framework Ce Observer-Based Control1.2.3 Disturbanc1.3.1 Frequency Domain Formulation1.3.2 Time Domain Formulation4..,··。,“垂4 Early Hi181.4.1 An Overview on Disturbance Estimation Approaches………181. 4.1.1 Linear Disturbance Observer.181. 4. 1.2 Nonlinear disturbance Observer1.4.2 An Overview of Disturbance Estimation-Bascd""..201.4.2. 1 Robustness Performance and Stability..... Composite Hierarchical Anti-DisturbanceC1.4.2.3 Compensation of Mismatched Disturbances..21.5 What Is in This Book22anuary22,201410:3K15053C000ContentsSECTION II DISTURBANCE ESTIMATION DESIGN2 Linear Disturbance Estimator....272. 1 Introduction2722 Frequency Domain Disturbance Observer.…………272.2.1 Minimum-Phase case2.2.2 Nonminimum Phase Case................312.3 Time Domain disturbance observer342. 4 Extended State Observer.372.5Suumma3 Basic Nonlinear Disturbance Observer3.2 Nonlinear disturbance Observer for Constant disturbances3.2.1 A Basic Formulat3.2.2 An Enhanced Formulation3. 3 Nonlinear Disturbal enousDisturb463.3.1 A Basic Formulation463.3.2 An Enhanced Formulation473.4 Summa514 Advanced nonlincar disturbance Observer4.1 Introduction4.2Ii4.2.1 Constant Disturbance Case4.2.2 Ramp Disturbance Case4.2.3 High-Order Disturb84.3 Extended High-Gain State Observer594.4 Finite-Time Disturbance Observer654.5 Summary…68SECTION I DISTURBANCE OBSERVER-BASED CONTROLDESIGN5 Disturbance Observer-Based Control for Nonlinear Systems.....715.1 Introduction....52 A General Design Framework…....….......25.3 Nonlinear Disturbance Observer-Based Control(NDOBC)735.3.1 Nonlinear Disturbance Observer5.3.2 Composite Controller Design74anuary22,201410:3K15053C0005.4 Example study765.5 Summary6 Generalized Extended State Observer-Based Control for Systemswith Mismatched Uncertainties6. 1 Introduction816.2 Generalized Extended-State Observer-Based Control (GESOBC).8.621 Composite Control Design.…………….846.2.2 Stability and Disturbance Rejection Analysis6.2.2.1 Case of m;t垂, Case of unmeasurable states896.3 Simulation Example∴906. 4 Further Discussions6.4. 1 Extension to MiMo System6.4.1.1 Solvability of the disturbanceCompensation gain.936.4.1.2 Controllable Condition6.4.2 Parameter Design for GESOBC6.5 Summary7 Nonlinear Disturbance Observer-Based Control for Systemsith Mismatched Uncertainties7. 1 Introduction.957.2 Problem Formulation9)67. 3 Novel Nonlinear Disturbance Observer-Based Control......977.3. 1 Controller Design7.3.2 Stability analysis..987.3.3 Disturbance Attenuation analysis1007.4 Application to a Nonlinear missile7.4.1 Longitudinal Dynamics of a Missile System1017.4.2 Nonlinear Dynamic Inversion Control.......... 1027.4.3 Nonlinear Disturbance Observer-Based Robust Control. 1047. 4.4 Simulation Studie1067441 External Disturbance Rejection Ability………1067.4.4.2 Robustness Against Model Uncertainties...1097.5 Summary18 Nonlinear Disturbance Observer-Based Control for Systemsh Arbitrary Disturbance Relative Degree°s…………………1158. 1 Introduction…158.2 Problem Formulation8.3 NDOBC for SIsO Nonlinear System with Arbitrary DRD



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