Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 63, Issue 2, Pages 1083-1095Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2015.2478397
Keywords
Disturbances; estimation; linear systems; motion control; nonlinear systems; robustness; uncertainties
Categories
Funding
- U.K. Engineering and Physical Sciences Research Council [GR/N31580]
- National Natural Science Foundation of China [61203011, 61473080, 61573099]
- Ph.D. Program Foundation of the Ministry of Education of China [20120092120031]
- Natural Science Foundation of Jiangsu Province [BK2012327]
- China Postdoctoral Science Foundation [2013M540406, 2014T70455]
- Australian Research Council
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Disturbance-observer-based control (DOBC) and related methods have been researched and applied in various industrial sectors in the last four decades. This survey, at first time, gives a systematic and comprehensive tutorial and summary on the existing disturbance/uncertainty estimation and attenuation techniques, most notably, DOBC, active disturbance rejection control, disturbance accommodation control, and composite hierarchical antidisturbance control. In all of these methods, disturbance and uncertainty are, in general, lumped together, and an observation mechanism is employed to estimate the total disturbance. This paper first reviews a number of widely used linear and nonlinear disturbance/uncertainty estimation techniques and then discusses and compares various compensation techniques and the procedures of integrating disturbance/uncertainty compensation with a (predesigned) linear/nonlinear controller. It also provides concise tutorials of the main methods in this area with clear descriptions of their features. The application of this group ofmethods in various industrial sections is reviewed, with emphasis on the commercialization of some algorithms. The survey is ended with the discussion of future directions.
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