期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 29, 期 5, 页码 1597-1612出版社
WILEY
DOI: 10.1002/rnc.4452
关键词
disturbance rejection; equivalent-input-disturbance (EID); generalized extended-state observer (GESO); modified repetitive control (MRC); nonlinearity; two-dimensional (2D) system
资金
- National Natural Science Foundation of China [61733016, 61473313]
- Hubei Provincial Natural Science Foundation of China [2015CFA010]
- 111 Project [B17040]
- National Key R&D Program of China [2017YFB130090, 2018YFC0603405]
- China Scholarship Council [201706370139]
This paper presents a disturbance-rejection method for a modified repetitive control system with a nonlinearity. Taking advantage of stable inversion, an improved equivalent-input-disturbance (EID) estimator that ismore relaxed for system design is developed to estimate and cancel out the influence of the disturbance and nonlinearity in the low-frequency domain. The high-frequency influence is filtered owning to the low-pass nature of the linear part of the closed-loop system. To avoid the restrictive commutative condition and choose a Lyapunov function of amore general form, a new design algorithm, which takes into account the relation between the feedback control gains and the observer and improved EID estimator gains, is developed for the nonlinear system. Furthermore, comparisons with the generalized extended-state observer (GESO) and conventional EID methods are conducted. A clear relation between the developed estimator and the GESO is also clarified. Finally, simulations show the effectiveness and the advantage of the developed method.
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