Disturbance Observer-Based Control: Methods and Applications

OVERVIEW

Overview
Introduction
Motivations
     High-Gain Control 
     Integral Control
     Disturbance Observer-Based Control
Basic Framework 
     Frequency Domain Formulation 
     Time Domain Formulation
Early History
     An Overview on Disturbance Estimation Approaches
          Linear Disturbance Observer 
          Nonlinear Disturbance Observer
     An Overview of Disturbance Estimation-Based Control Approaches
          Robustness Performance and Stability
          Composite Hierarchical Anti-DisturbanceControl 
          Compensation of Mismatched Disturbances

DISTURBANCE ESTIMATION DESIGN

Linear Disturbance Estimator
Introduction
Frequency Domain Disturbance Observer
     Minimum-Phase Case 
     Nonminimum Phase Case
Time Domain Disturbance Observer
Extended State Observer
Summary

Basic Nonfinear Disturbance Observer
Introduction
Nonlinear Disturbance Observer for Constant Disturbances 
      A Basic Formulation 
     An Enhanced Formulation
Nonlinear Disturbance Observer for General Exogenous Disturbances 
     A Basic Formulation 
     An Enhanced Formulation
Summary

Advanced Nonfinear Disturbance Observer
Introduction
High-Order Disturbance Observer
     Constant Disturbance Case 
     Ramp Disturbance Case 
     High-Order Disturbance Case
Extended High-Gain State Observer
Finite-Time Disturbance Observer
Summary

DISTURBANCE OBSERVER-BASED CONTROL DESIGN

Disturbance Observer-Based Control for Nonfinear Systems
Introduction
A General Design Framework
Nonlinear Disturbance Observer-Based Control (NDOBC) 
     Nonlinear Disturbance Observer 
     Composite Controller Design
Example Study
Summary

Generalized Extended State-Observer-Based Control for Systems with Mismatched Uncertainties
Introduction
Generalized Extended-State Observer-Based Control (GESOBC)
          Composite Control Design
     Stability and Disturbance Rejection Analysis 
          Case of Measurable States 
          Case of Unmeasurable States
Simulation Example
Further Discussions
     Extension to MIMO System
          Solvability of the Disturbance Compensation Gain
          Controllable Condition 
     Parameter Design for GESOBC
Summary

Nonfinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties
Introduction
Problem Formulation
Novel Nonlinear Disturbance Observer-Based Control 
     Controller Design
     Stability Analysis
     Disturbance Attenuation Analysis
Application to A Nonlinear Missile 
     Longitudinal Dynamics of A Missile System
     Nonlinear Dynamic Inversion Control 
     Nonlinear Disturbance Observer-Based Robust Control 
     Simulation Studies
          External Disturbance Rejection Ability 
          Robustness Against Model Uncertainties
Summary

Nonfinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative Degrees
Introduction
Problem Formulation
NDOBC for SISO Nonlinear System with Arbitrary DRD
     Control Law Design 
     Stability Analysis
NDOBC for MIMO Nonlinear Systems with Arbitrary DRDs
     Control Law Design 
     Stability Analysis
An Illustrative Example
Summary

Linear/Nonfinear Disturbance Observer-Based Sliding Mode Control for Systems with Mismatched Uncertainties
Introduction
Linear Disturbance Observer-Based Sliding-Mode Control
     Problems of the Existing SMC Methods
     Novel SMC Method Based on a Disturbance Observer 
          Control Design
          Stability Analysis
     An Illustrative Example 
          Nominal Performance Recovery 
          Chattering Reduction
Nonlinear Disturbance Observer-Based Nonsingular Terminal Sliding-Mode Control
     Problem of the Existing NTSMC Methods 
     Novel NTSMC Method Based on a Finite-Time Disturbance Observer 
          Finite-Time Disturbance Observer 
          Control Design and Stability Analysis
     An Illustrative Example
Summary

APPLICATION TO PROCESS CONTROL SYSTEMS

Application to Process Control Systems
Introduction
System Modeling of Level Tank
Disturbance Rejection Control Design and Implementation 
     Model Predictive Control 
     Disturbance Observer-Enhanced Model Predictive Control
     Control Implementation
Simulation and Experimental Studies
     Simulation Results and Analysis
     Experimental Results and Analysis 
     Summary

Disturbance Rejection for Ball Mill Grinding Circuits
Introduction
Process Description 
     Process Background
     Description of Grinding Circuit
Control Scheme 
     Multivariable MPC Algorithm 
     Disturbance Observer for Process with Time Delays
     DOB-MPC Scheme for Ball Mill Grinding Circuits
Performance Analysis and Comparisons 
     Disturbance Rejection in Nominal Case 
     Disturbance Rejection in Model Mismatch Case
Summary

APPLICATION TO MECHATRONIC SYSTEMS

Disturbance Rejection for Magnetic Leviation Suspension System
Introduction
Problem Formulation 
     Nonlinear MAGLEV Suspension Dynamics
     Model Linearization 
     Problem Formulation
DOBC Design
Simulations and Analysis 
     External Disturbance Rejection Performance
     Robustness Against Load Variation
Summary

Disturbance Rejection for Permanent Magnet Synchronous Motors
Introduction
Problem Description
Control Strategy
     The Principle of ESO-Based Control Method 
     Speed Controller Design
     Current Controller Design
Simulation and Experimental Results 
     Simulation Results
     Experimental Results
Summary

APPLICATION TO FLIGHT CONTROL SYSTEMS

Disturbance Rejection for Small-Scale Helicopters
Introduction
Helicopter Modeling
Explicit Nonlinear MPC With Disturbances
     Output Approximation
     Explicit Nonlinear MPC Solution
Disturbance Observer-Based Control 
     Disturbance Observer 
     Composite Controller
Stability Analysis
Simulation and Experiment
Summary

Disturbance Rejection for Bank-to-Turn Missiles
Introduction
Pitch/Yaw Dynamic Models of BTT Missiles
Disturbance Observers
Disturbance Observer-Based Robust Control 
     Feedback Control Design 
     Stability Analysis of Closed-Loop System 
     Design of Disturbance Compensation Gain
Simulation Studies 
     External Disturbance Rejection Performance
     Robustness Against Model Uncertainties
Summary

Disturbance Rejection for Airbreathing Hypersonic Vehicles
Introduction
Problem Formulation 
      Longitudinal Dynamics of a Generic AHV
     Problem Formulation
Nonlinear Disturbance Observer-Based Robust Flight Control 
     Composite Control Law Design 
     Stability Analysis
Simulation Studies
     External Disturbance Rejection 
     Robustness Against Parameter Uncertainties
Summary

Bibliography
Index