Robust tracking performance and disturbance rejection for a class of nonlinear systems using disturbance observers英文文献资料.pdfVIP

2013 American Control Conference (ACC) Washington, DC, USA, June 17-19, 2013 Robust Tracking Performance and Disturbance Rejection for a Class of Nonlinear Systems Using Disturbance Observers Ahmed H. El-Shaer and Masayoshi Tomizuka Abstract— This paper is concerned with disturbance rejection Q (s), is added into the main feedback system to estimate performance in single-input single-output (SISO) nonlinear exogenous disturbances and cancel them subsequently [8]. systems described by uncertain linear dynamics and bounded The robust DOB design presented in this paper relies on nonlinearities. After transforming the nonlinear terms into an equivalent bounded disturbance at the output of a linear the equivalence of the DOB structure in Fig. 1b and that system, a disturbance observer (DOB) is added to achieve of a classic Luenberger observer state estimation of an aug- robust disturbance rejection. The DOB design is formulated mented linear system with internal model for the disturbance as Luenberger observer state estimation for an augmented dynamics [12]. Under mild assumptions it is shown that such system which contains at least one eigenvalue at the origin. The equivalence indeed exists if the internal model has at least an synthesis of a (sub)optimal DOB is carried out by solving multi- objective H∞ sensitivity optimization. The design approach is eigenvalue at the origin [17][8]. Thus, once the Luenberger applied to an inverted pendulum with actuator backlash. observer gain L is obtained, Q (s) is evaluated as a transfer function parameterized by the gain L, i.e. Q (s,L). This