Matched Disturbance Rejection for a Class of Nonlinear Systems

Ferguson Joel; Donaire Alejandro; Ortega Romeo; Middleton Richard H.

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Matched Disturbance Rejection for a Class of Nonlinear Systems

机译：一类非线性系统的匹配扰动抑制

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In this paper, we present a method to robustify asymptotically stable nonlinear systems by adding an integral action that rejects unknown additive disturbances. The proposed approach uses a port-Hamiltonian (pH) representation of the open-loop dynamics, which, relying on the asymptotic stability property, is guaranteed to exist. The integral action controller preserves the pH structure, and, by adding a suitable cross term between the plant and the controller states to the closed-loop energy function, it avoids the unnatural coordinate transformation used in the past. The controller is shown to be robust against some common types of modeling uncertainty, including unknown friction dynamics in mechanical systems.

机译：在本文中，我们提出了一种通过添加拒绝未知添加剂干扰的积分作用来强化渐近稳定的非线性系统的方法。所提出的方法使用开环动态的Port-Hamiltonian（pH）表示，依赖于渐近稳定性属性，得到保证存在。积分动作控制器保留了pH结构，并且通过在工厂和控制器状态之间添加合适的横向项以闭环能量函数，它避免了过去使用的不自然的坐标变换。控制器被证明对某些常见类型的建模不确定性具有稳健性，包括机械系统中未知的摩擦动力学。

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来源
《IEEE Transactions on Automatic Control》 |2020年第4期|1710-1715|共6页
作者
Ferguson Joel; Donaire Alejandro; Ortega Romeo; Middleton Richard H.;
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作者单位

Univ Newcastle Sch Engn Callaghan NSW 2308 Australia;

Univ Newcastle Sch Engn Callaghan NSW 2308 Australia;

CNRS SUPELEC Lab Signaux & Syst F-91192 Gif Sur Yvette France;

Univ Newcastle Sch Elect Engn & Comp Callaghan NSW 2308 Australia|Univ Newcastle PRC CDSC Callaghan NSW 2308 Australia;

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正文语种 eng
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关键词
Mechanical systems; Asymptotic stability; Stability analysis; Damping; Symmetric matrices; Closed loop systems; Matrix decomposition; Integral control; Lyapunov methods; nonlinear control systems; Port-Hamiltonian systems;

机译：机械系统;渐近稳定性;稳定性分析;阻尼;对称矩阵;闭环系统;矩阵分解;积分控制;Lyapunov方法;非线性控制系统;端口汉密尔顿系统;

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1. Active Disturbance Rejection Control Approach to Output-Feedback Stabilization of a Class of Uncertain Nonlinear Systems Subject to Stochastic Disturbance [J] . Bao-Zhu Guo, Ze-Hao Wu, Hua-Cheng Zhou IEEE Transactions on Automatic Control . 2016,第6期

机译：一类具有随机扰动的不确定非线性系统的输出反馈稳定化的主动扰动抑制方法
2. Asymptotic rejection of unmatched nonlinear disturbances for a class of nonlinear output-feedback systems [J] . Ding Z. Dynamics of continuous, discrete & impulsive systems, Series B. Applications & algorithms . 2010,第6期

机译：一类非线性输出反馈系统的无匹配非线性扰动的渐近抑制
3. Global disturbance rejection of a class of nonlinear systems with unknown exosystems [J] . Yuan JIANG, Shutang LIU 控制理论与应用（英文版） . 2009,第004期

机译：一类外系统未知的非线性系统的全局扰动抑制
4. Reconstruction and Rejection of Mismatched and Matched Disturbances for a Class of Multivariable Systems [C] . Chao-Chung Peng, Chieh-Li Chen, Christopher Edwards ICCAS-SICE International Joint Conference . 2009

机译：一类多变量系统重建和拒绝不匹配和匹配的干扰
5. Stabilization, observation, tracking and disturbance rejection for uncertain/nonlinear and time-varying systems. [D] . Acikmese, Ahmet Behcet. 2002

机译：不确定/非线性和时变系统的稳定，观测，跟踪和干扰抑制。
6. Continuous uniformly finite time exact disturbance observer based control for fixed-time stabilization of nonlinear systems with mismatched disturbances [O] . Junkang Ni, Chongxin Liu, Hang Liu -1

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7. Active Disturbance Rejection Control for a Class of Non-affine Nonlinear Systems via Neural Networks [O] . Wen-tao LIU, Tong ZHAO 2019

机译：通过神经网络对一类非仿射非线性系统的主动扰动控制
8. Evolving Systems: Nonlinear Adaptive Key Component Control with Persistent Disturbance Rejection. [R] . Balas, M. J., Frost, S. A. 2013

机译：演化系统：具有持续扰动抑制的非线性自适应关键分量控制。

Matched Disturbance Rejection for a Class of Nonlinear Systems

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