基于改进ESO的RC提高了时变不确定性对象的抗扰能力

Proceedings of 2014 International Conference on Modelling, Identification & Control Pub Date : 2014-12-01 DOI:10.1109/ICMIC.2014.7020749

A. Sayem, Z. Cao, Z. Man, E. Kurniawan

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引用次数: 1

摘要

针对相对度大于零的对象，提出了一种改进的鲁棒控制器，用于调节系统动力学中的不确定性和外部干扰。该设计基于扩展状态观测器(ESO)和重复控制器(RC)的概念。在实时估计和缓解各种不确定性的总影响时，基于ESO的RC对大范围的参数变化、模型不确定性和大扰动特别有效。该控制器只有两个可调参数，为实际复杂的工程问题提供了简单易用的解决方案。对比结果验证了基于ESO的RC比基于状态观测器的RC的有效性。

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Modified ESO based RC for improved disturbance rejection capability for the plant with time-varying uncertainty

A modified robust controller is proposed, to regulate uncertainties in system dynamics and external disturbances, for the plant with relative degree greater than zero. The design is based on the concept of extended state observer (ESO) with repetitive controller (RC). In real time estimation and mitigation of the total effect of various uncertainties, ESO based RC is particularly effective against a wide range of parameter variations, model uncertainties, and large disturbances. With only two tuning parameters, the controller provides a simple and user friendly solution to complex engineering problems in practice. The comparison results verified the effectiveness of the ESO based RC over state observer (SO) based RC.

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Proceedings of 2014 International Conference on Modelling, Identification & Control

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