期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 23, 期 3, 页码 1445-1455出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2816005
关键词
Disturbance estimation; disturbance rejection; equivalent input disturbance (EID); linear matrix inequality (LMI); robust control; state delay; uncertainty
类别
资金
- National Natural Science Foundation of China [61733016, 61473313]
- Hubei Provincial Natural Science Foundation of China [2015CFA010]
- 111 Project [B17040]
- China Scholarships Council [201706370139]
A robust tracking control method is presented in this paper for an uncertain plant with an unknown state delay and an exogenous disturbance. The effects of the uncertainties, the delay, and the exogenous disturbance are treated as a total disturbance; thus, the construction of the observer does not need the delay information. The system design is divided into the design of the gains of the state-feedback controller as well as the design of the gains of the observer and the improved equivalent-input-disturbance (EID) estimator. The pole-assignment method is used to design the gains of the state-feedback controller of a simplified system. A robust-stability condition in the form of a linear matrix inequality is derived to determine the gains of the observer and the improved EID estimator. Since the devised Lyapunov functional is of a more general form than those in existing EID-based methods and the restrictive commutative condition is avoided in this design, the developed design method is less conservative. Finally, comparisons of the developed method with a sliding-mode control method for a matched disturbance and a conventional EID-based method for an unmatched disturbance illustrate the validity and superiority of the developed method.
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