State and Disturbance Observer-Based Controller Design for Fully Actuated Systems

In this paper, an observer that combines the design ideas of disturbance observer and state observer is proposed for fully actuated systems with external disturbances. The integral term is also added to the observer to improve steady-state accuracy and design degrees of freedom. With the use of the...

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Published inIEEE transactions on circuits and systems. I, Regular papers Vol. 71; no. 11; pp. 5261 - 5270
Main Authors Jiang, Hong, Duan, Guangren, Hou, Mingzhe
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuation
Actuators
Closed loops
Control systems design
Convergence
disturbance observer
Disturbance observers
Feedback control
full-actuation property
fully actuated system
Iterative methods
Linear matrix inequalities
linear matrix inequality
linear parameter varying
Linearity
Observers
Real-time systems
State estimation
State observer
State observers
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Abstract In this paper, an observer that combines the design ideas of disturbance observer and state observer is proposed for fully actuated systems with external disturbances. The integral term is also added to the observer to improve steady-state accuracy and design degrees of freedom. With the use of the linear parameter varying method, the Lipschitz nonlinearity is converted to the varying linearity, and the observer gains are then determined via solving a set of linear matrix inequalities. Furthermore, due to the full-actuation property, a control scheme for state stabilization using estimated states and disturbances is given. All the states are ultimately uniformly bounded if the linear part of the closed-loop system is stable. An example of an electromechanical system is presented to demonstrate the practicality of the proposed method.
AbstractList In this paper, an observer that combines the design ideas of disturbance observer and state observer is proposed for fully actuated systems with external disturbances. The integral term is also added to the observer to improve steady-state accuracy and design degrees of freedom. With the use of the linear parameter varying method, the Lipschitz nonlinearity is converted to the varying linearity, and the observer gains are then determined via solving a set of linear matrix inequalities. Furthermore, due to the full-actuation property, a control scheme for state stabilization using estimated states and disturbances is given. All the states are ultimately uniformly bounded if the linear part of the closed-loop system is stable. An example of an electromechanical system is presented to demonstrate the practicality of the proposed method.
Author Hou, Mingzhe
Jiang, Hong
Duan, Guangren
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Snippet In this paper, an observer that combines the design ideas of disturbance observer and state observer is proposed for fully actuated systems with external...
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SubjectTerms Actuation
Actuators
Closed loops
Control systems design
Convergence
disturbance observer
Disturbance observers
Feedback control
full-actuation property
fully actuated system
Iterative methods
Linear matrix inequalities
linear matrix inequality
linear parameter varying
Linearity
Observers
Real-time systems
State estimation
State observer
State observers
Title State and Disturbance Observer-Based Controller Design for Fully Actuated Systems
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Volume 71
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