Composite Control Based on Robust Disturbance Interval Estimation for Nonlinear Systems With Multiple Disturbances and Its Applications

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Robust and Nonlinear Control Pub Date : 2025-05-02 DOI:10.1002/rnc.7997

Yuhan Xu, Zelong Wu, Yongjian Yang, Yukai Zhu, Makoto Iwasaki, Fang Fang

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引用次数: 0

Abstract

In this paper, a composite antidisturbance control scheme based on $L_{1}$ robust disturbance interval observer (RDIO) is proposed for a class of nonlinear systems with multiple disturbances. Considering the disturbance with uncertainties in asymmetry bounds, different from the existing composite antidisturbance scheme, here a $L_{1}$ RDIO is designed utilizing the uncertainty information to obtain the possible interval of real disturbance, and the disturbance effect is suppressed by compressing the interval for robust performance. The comparison of estimation accuracy of $L_{1}$ RDIO with traditional disturbance observer (DO) is given in theoretical analysis. Furthermore, algorithms for solving the $L_{1}$ RDIO parameters are provided for generalized and specific situations. Based on $L_{1}$ RDIO and integral sliding mode control (ISMC), a composite integral sliding mode controller with disturbance compensation and attenuation ability is proposed to realize the high-precision stabilization. Finally, the effectiveness and superiority of the proposed control scheme are verified by numerical simulation and the application to the motor rotation tracking with hardware-in-loop (HIL) experiment.

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多扰动非线性系统的鲁棒扰动区间估计复合控制及其应用

针对一类具有多重扰动的非线性系统，提出了一种基于l1 $$ {L}_1 $$鲁棒扰动区间观测器（RDIO）的复合抗干扰控制方案。考虑了非对称界的不确定性扰动，与现有的复合抗干扰方案不同，本文利用不确定性信息设计了一个l1 $$ {L}_1 $$ RDIO来获取实际干扰的可能区间，并通过压缩区间来抑制干扰的影响，以提高鲁棒性。在理论分析中比较了l1 $$ {L}_1 $$ RDIO与传统干扰观测器的估计精度。此外，针对广义和特定情况，给出了求解L 1 $$ {L}_1 $$ RDIO参数的算法。基于l1 $$ {L}_1 $$ RDIO和积分滑模控制（ISMC），提出了一种具有扰动补偿和衰减能力的复合积分滑模控制器，实现了系统的高精度稳定。最后，通过数值仿真和硬件在环（HIL）实验验证了所提控制方案的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Robust and Nonlinear Control 工程技术-工程：电子与电气

CiteScore

6.70

自引率

20.50%

发文量

505

审稿时长

2.7 months

期刊介绍： Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.