A Survey of Disturbance-Observer-Based Control for Dynamic .pdfVIP

A Survey of Disturbance-Observer-Based Control for Dynamic Nonlinear Systems Lei Guo and Chun-Bo Feng Wen-Hua Chen Research Institute of Automation Department of Aero. Auto. Engi. Southeast University, Nanjing, 210096, China Loughborough University, LE11 3TU, UK l.guo@seu.edu.cn w.chen@lboro.ac.uk Abstract — It has been shown in many applications that controller structures or depend on too heavy computation to disturbance-observer-based DOB control DOBC is a robust use in practical engineering. Also, some strict assumptions for control scheme against the various unknown disturbances. How- the models may con?ne their applications for different plants. ever, the explicit architectures of the general DOBC design for dynamical systems and the relationships between DOBC with other Compensation through feedforward for the modelling er- control methodologies are required to be clari?ed. In this paper, rors and the exogenous disturbance has been considered as a recent advances in nonlinear DOBC theory are reviewed and “robust” control scheme when the errors or disturbance can some potential research topics are outlined. The comparisons with be measured. However, in most cases they are time-varying some well-known control approaches such as the observer theory, unknown dynamics, for which the dynamical observers or ?lters the fault detection theory, the control theory, the output regulation theory, the adaptive control theory and the variable are needed for estimation. Up to date, the disturbance-observer- structure control theory are investigated. based DOB control DOBC approach has been widely used Index Terms — Disturbance observer; nonlinear control; distur- in many practical engineering as a robust method against the bance attenuation and rejection; internal model principle. disturbance. In the ?rst stage, only line