Disturbance Rejection for Nonlinear Uncertain Systems With Output Measurement Errors: Application to a Helicopter Model

Yan Yunda; Zhang Chuanlin; Liu Cunjia; Yang Jun; Li Shihua

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Disturbance Rejection for Nonlinear Uncertain Systems With Output Measurement Errors: Application to a Helicopter Model

机译：具有输出测量误差的非线性不确定系统的干扰抑制：在直升机模型中的应用

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As a virtual sensor, disturbance observer provides an alternative approach to reconstruct lumped disturbances (including external disturbances and system uncertainties) based upon system states/outputs measured by physical sensors. Not surprisingly, measurement errors bring adverse effects on the control performance and even the stability of the closed-loop system. Toward this end, this paper investigates the problem of disturbance observer-based control for a class of disturbed uncertain nonlinear systems in the presence of unknown output measurement errors. Instead of inheriting from the estimation-error-driven structure of Luenberger-type observer, the proposed disturbance observer only explicitly uses the control input. It has been proved that the proposed method endows the closed-loop system with strong robustness against output measurement errors and system uncertainties. With rigorous analysis under the semiglobal stability criterion, the guideline of gain choice based upon the proposed structure is provided. To better demonstrate feature and validity of the proposed method, numerical simulation and comparative experiments of a helicopter model are implemented.

机译：作为虚拟传感器，扰动观测器提供了一种基于由物理传感器测量的系统状态/输出来重建集成的干扰（包括外部干扰和系统不确定性）的替代方法。毫不奇怪，测量误差对控制性能产生不利影响，甚至是闭环系统的稳定性。迄今为止，本文研究了在未知输出测量误差存在下对一类干扰的不确定非线性系统的干扰观察者控制问题。而不是从Luenberger型观察者的估计误差驱动结构继承，所提出的扰动观察者仅明确地使用控制输入。已经证明，该方法赋予闭环系统，具有强大的鲁棒性，免于输出测量误差和系统不确定性。通过在半球形稳定性标准下进行严格的分析，提供了基于所提出的结构的增益选择指导。为了更好地证明所提出的方法的特征和有效性，实施了直升机模型的数值模拟和对比实验。

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来源
《IEEE transactions on industrial informatics》 |2020年第5期|3133-3144|共12页
作者
Yan Yunda; Zhang Chuanlin; Liu Cunjia; Yang Jun; Li Shihua;
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作者单位

Southeast Univ Sch Automat Key Lab Measurement & Control CSE Minist Educ Nanjing 210096 Peoples R China;

Shanghai Univ Elect Power Coll Automat Engn Shanghai 200090 Peoples R China;

Loughborough Univ Dept Aeronaut & Automot Engn Loughborough LE11 3TU Leics England;

Southeast Univ Sch Automat Key Lab Measurement & Control CSE Minist Educ Nanjing 210096 Peoples R China;

Southeast Univ Sch Automat Key Lab Measurement & Control CSE Minist Educ Nanjing 210096 Peoples R China;

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正文语种 eng
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关键词
Disturbance observer; disturbance rejection; output measurement error; robust control; semiglobal stability;

机译：扰动观察者;扰动抑制;输出测量误差;鲁棒控制;半球稳定性;

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专利

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. Output Regulation for a Class of MIMO Uncertain Stochastic Nonlinear Systems by Active Disturbance Rejection Control Approach [J] . Lv Chunwan, Huang Guoshun, Ouyang Zhengyong, Mathematical Problems in Engineering . 2019,第2期

机译：一类MIMO不确定随机非线性系统的主动干扰抑制输出调节。
3. Output Regulation for a Class of MIMO Uncertain Stochastic Nonlinear Systems by Active Disturbance Rejection Control Approach [J] . Chunwan Lv, Guoshun Huang, Zhengyong Ouyang, Mathematical Problems in Engineering: Theory, Methods and Applications . 2019,第1期

机译：主动干扰抑制控制方法对一类MIMO不确定随机非线性系统的输出调节
4. Generalized output feedback active disturbance rejection control for uncertain lower-triangular nonlinear systems [C] . Chuanlin Zhang, Shuaipeng He Chinese Control Conference . 2016

机译：不确定下三角非线性系统的广义输出反馈有源干扰抑制控制
5. Nonlinear error trajectory controllers for output tracking and disturbance rejection. [D] . McLellan, Peter James. 1990

机译：用于输出跟踪和干扰抑制的非线性误差轨迹控制器。
6. Simultaneous Bayesian Inference for Linear Nonlinear and Semiparametric Mixed-Effects Models with Skew-Normality and Measurement Errors in Covariates [O] . Yangxin Huang, Ren Chen, Getachew Dagne -1

机译：具有偏正态和测量误差的线性非线性和半参数混合效应模型的同时贝叶斯推断
7. Output-based disturbance rejection control for nonlinear uncertain systems with unknown frequency disturbances using an observer backstepping approach [O] . Yang, Jun, Ding, Zhengtao, Chen, Wen-Hua, 2016

机译：基于输出的干扰抑制控制方法采用观测器反演方法对未知频率扰动的非线性不确定系统进行控制
8. Nonlinear Model Matching with Prescribed Tracking Error with an Application to Hamiltonian Systems [R] . Huijberts, H. J. C. 1988

机译：具有规定跟踪误差的非线性模型匹配及其在Hamilton系统中的应用

Disturbance Rejection for Nonlinear Uncertain Systems With Output Measurement Errors: Application to a Helicopter Model

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