期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 85, 期 8, 页码 1071-1082出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2012.675520
关键词
disturbance attenuation; nonlinear disturbance observer; arbitrary disturbance relative degree; mismatching condition; multi-input multi-output nonlinear system
资金
- 973 Program [2012CB720003]
- National 863 Project of the Twelfth Five-Year Plan of China [2011AA04A106]
- National Natural Science Foundation of China [61074013]
- Program for New Century Excellent Talents in University [NCET-10-0328]
For a multi-input multi-output (MIMO) nonlinear system, the existing disturbance observer-based control (DOBC) only provides solutions to those whose disturbance relative degree (DRD) is higher than or equal to its input relative degree. By designing a novel disturbance compensation gain matrix, a generalised nonlinear DOBC method is proposed in this article to solve the disturbance attenuation problem of the MIMO nonlinear system with arbitrary DRD. It is shown that the disturbances are able to be removed from the output channels by the proposed method with appropriately chosen control parameters. The property of nominal performance recovery, which is the major merit of the DOBCs, is retained with the proposed method. The feasibility and effectiveness of the proposed method are demonstrated by simulation studies of both the numerical and application examples.
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