Robust Disturbance Rejection in Repetitive-Control System Based on Improved Equivalent-Input-Disturbance Approach
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- 英文论文题名：Robust Disturbance Rejection in Repetitive-Control System Based on Improved Equivalent-Input-Disturbance Approach
- 论文作者：Lan Zhou ; Jinhua She ; Changzhong Pan
- 英文论文作者：Lan Zhou ; Jinhua She ; Changzhong Pan ; School of Information and Electrical Engineering ; Hunan University of Science and Technology ; School of Engineering ; Tokyo University of Technology ; School of Automation ; China University of Geosciences ; Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
- 年：2017
- 作者机构：School of Information and Electrical Engineering,Hunan University of Science and Technology;School of Engineering,Tokyo University of Technology;School of Automation,China University of Geosciences;Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems;
- 英文论文关键词：Repetitive Control ; Equivalent Input Disturbance ; Disturbance Rejecting ; Two-dimensional System ; Linear Matrix Inequality
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：TP273
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：192k
- 原文格式：D
- 会议级别：全国
摘要
This paper concerns disturbance rejection for a repetitive-control system(RCS) with unknown time-varying uncertainties and nonlinearity. The design of the RCS is based on the concept of equivalent input disturbance(EID). First, an EID estimator is constructed through a state observer with dynamic coefficient matrix that effectively estimates the total effect of the uncertainties and nonlinearity on the output of the plant. Next, a robust globally uniformly ultimately bounded stability condition for the EID-based RCS is derived in the form of a linear matrix inequality. Then, the methods of designing a modified repetitive controller, a state-feedback controller, and an EID estimator are explained. Finally, simulation results demonstrate the validity of the method.
This paper concerns disturbance rejection for a repetitive-control system(RCS) with unknown time-varying uncertainties and nonlinearity. The design of the RCS is based on the concept of equivalent input disturbance(EID). First, an EID estimator is constructed through a state observer with dynamic coefficient matrix that effectively estimates the total effect of the uncertainties and nonlinearity on the output of the plant. Next, a robust globally uniformly ultimately bounded stability condition for the EID-based RCS is derived in the form of a linear matrix inequality. Then, the methods of designing a modified repetitive controller, a state-feedback controller, and an EID estimator are explained. Finally, simulation results demonstrate the validity of the method.
This paper concerns disturbance rejection for a repetitive-control system(RCS) with unknown time-varying uncertainties and nonlinearity. The design of the RCS is based on the concept of equivalent input disturbance(EID). First, an EID estimator is constructed through a state observer with dynamic coefficient matrix that effectively estimates the total effect of the uncertainties and nonlinearity on the output of the plant. Next, a robust globally uniformly ultimately bounded stability condition for the EID-based RCS is derived in the form of a linear matrix inequality. Then, the methods of designing a modified repetitive controller, a state-feedback controller, and an EID estimator are explained. Finally, simulation results demonstrate the validity of the method.
引文
[1]T.Inoue,M.Nakano,S.Iwai,High accuracy control of servomechanism for repeated contouring,in Proceeding of the10th Annual Symposium on Incremental Motion Control Systems and Devices,Urbana-Champaign,1981:285–292.
[2]B.A.Francis and W.M.Wonham,The internal model principle for linear multivariable regulators,Appl.Math.Optim.,2(2):170–194,1975.
[3]E.Rogers,D.H.Owens,Stability analysis for linear repetitive processes.Lecture Notes in Computer Science,Advances in Industrial Control.Berlin:Springer,1992.
[4]S.Hara,Y.Yamamoto,T.Omata,and M.Nakano,Repetitive control system:a new type servo system for periodic exogenous signals,IEEE Trans.on Automatic Control,33(7):659–668,1988.
[5]W.J.Cao,J.X.Xu,Robust and almost perfect periodic tracking of nonlinear systems using repetitive VSC,in Proceedings of the 2001 American Control Conference,Arlington,USA,2001:3830–3835.
[6]M.Yu,X.D.Ye,D.L.Qi,Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction,Control Theory and Technology,11(3):336–342,2013.
[7]G.Weiss,Q.C.Zhong,T.C.Green,J.Liang,H∞repetitive control of DC-AC converters in microgrids,IEEE Trans.on Power Electronics,19(1):219–230,2004.
[8]J.Yang,S.H.Li,W.H.Chen,Nonlinear disturbance observerbased control for multi-input multi-output nonlinear system subject to mismatching condition,Int J Control,85(8):1071–1082,2012.
[9]J.She,M.Fang,Y.Ohyama,H.Hashimoto,and M.Wu,Improving disturbance-rejection performance based on an equivalent-input-disturbance approach,IEEE Trans.on Industrial Electronics,55(1):380–389,2008.
[10]J.She,X.Xin,Y.Ohyama,M.Wu,and H.Hashimoto,Vehicle steering control based on estimation of equivalent input disturbance,International Federation of Automatic Control,38(1):91–96,2005.
[11]J.She,X.Xin,Y.Ohyama,Estimation of equivalent input disturbance improves vehicular steering control,IEEE Trans.on Vehicular Technology,56(6):3722–3731,2007.
[12]M.Wu,B.g.Xu,W.H.Cao,and J.She,Aperiodic disturbance rejection in repetitive-control systems,IEEE Trans.on Control System Technology,22(3):1044–1051,2014.
[13]J.Q.Liu,W.J.Chen,M.Wu,J.She,Compensation in repetitive control system fir aperiodic disturbances and input dead zone,in Proceedings of the 19th World Congress,The International Federation of Automatic Control,Cape Town,South Africa,2014:2752–2757.
[14]D.C.Zhang,M.Zeng,B.K.Su,Rejection of state-dependent nonlinear disturbance torques in servomechanisms with finitedimensional repetitive control,in Proceedings of 2003 IEEE Conference on Control Applications,803–807,2003.
[15]L.R.Hunt,G.Meyer,R.Su,Noncausal inverses for linear systems,IEEE Trans.on Industrial Electronics,41(4):608–611,1996.
[16]L.Zhou,J.She,Y.He,C.Y.Li,Aperiodic disturbance rejection in a modified repetitive-control system with non-linear uncertainty,IET Control Theory and Applications,accepted.
[17]J.She,Y.D.Pan,H.Hiroshi,Q.Lei,M.Wu,Equivalentinput-disturbance approach enables sliding-mode control systems to reject unmatched disturbances,in 2015 IEEE International Conference on Industrial Technology,Seville,2015:226–231.
[18]K.Zhou,J.C.Doyle,K.Glover,Robust and optimal control,Prentice Hall,Inc.Simon and Schuster/A Viacom Company Upper Saddle River,New Jersey 07458,1996.
[19]D.W.C.Ho,G.Lu,Robust stabilization for a class of discrete-time non-linear system via output feedback:the unified LMI approach,Int J Control,76(2):105–115,2003.
[20]P.P.Khargonekar,I.R.Petersen,K.Zhou,Robust stabilization of uncertain linear systems:Quadratic stabilizability and H∞control theory,IEEE Trans.on Automatic Control,35(3):356–361,1990.
[2]B.A.Francis and W.M.Wonham,The internal model principle for linear multivariable regulators,Appl.Math.Optim.,2(2):170–194,1975.
[3]E.Rogers,D.H.Owens,Stability analysis for linear repetitive processes.Lecture Notes in Computer Science,Advances in Industrial Control.Berlin:Springer,1992.
[4]S.Hara,Y.Yamamoto,T.Omata,and M.Nakano,Repetitive control system:a new type servo system for periodic exogenous signals,IEEE Trans.on Automatic Control,33(7):659–668,1988.
[5]W.J.Cao,J.X.Xu,Robust and almost perfect periodic tracking of nonlinear systems using repetitive VSC,in Proceedings of the 2001 American Control Conference,Arlington,USA,2001:3830–3835.
[6]M.Yu,X.D.Ye,D.L.Qi,Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction,Control Theory and Technology,11(3):336–342,2013.
[7]G.Weiss,Q.C.Zhong,T.C.Green,J.Liang,H∞repetitive control of DC-AC converters in microgrids,IEEE Trans.on Power Electronics,19(1):219–230,2004.
[8]J.Yang,S.H.Li,W.H.Chen,Nonlinear disturbance observerbased control for multi-input multi-output nonlinear system subject to mismatching condition,Int J Control,85(8):1071–1082,2012.
[9]J.She,M.Fang,Y.Ohyama,H.Hashimoto,and M.Wu,Improving disturbance-rejection performance based on an equivalent-input-disturbance approach,IEEE Trans.on Industrial Electronics,55(1):380–389,2008.
[10]J.She,X.Xin,Y.Ohyama,M.Wu,and H.Hashimoto,Vehicle steering control based on estimation of equivalent input disturbance,International Federation of Automatic Control,38(1):91–96,2005.
[11]J.She,X.Xin,Y.Ohyama,Estimation of equivalent input disturbance improves vehicular steering control,IEEE Trans.on Vehicular Technology,56(6):3722–3731,2007.
[12]M.Wu,B.g.Xu,W.H.Cao,and J.She,Aperiodic disturbance rejection in repetitive-control systems,IEEE Trans.on Control System Technology,22(3):1044–1051,2014.
[13]J.Q.Liu,W.J.Chen,M.Wu,J.She,Compensation in repetitive control system fir aperiodic disturbances and input dead zone,in Proceedings of the 19th World Congress,The International Federation of Automatic Control,Cape Town,South Africa,2014:2752–2757.
[14]D.C.Zhang,M.Zeng,B.K.Su,Rejection of state-dependent nonlinear disturbance torques in servomechanisms with finitedimensional repetitive control,in Proceedings of 2003 IEEE Conference on Control Applications,803–807,2003.
[15]L.R.Hunt,G.Meyer,R.Su,Noncausal inverses for linear systems,IEEE Trans.on Industrial Electronics,41(4):608–611,1996.
[16]L.Zhou,J.She,Y.He,C.Y.Li,Aperiodic disturbance rejection in a modified repetitive-control system with non-linear uncertainty,IET Control Theory and Applications,accepted.
[17]J.She,Y.D.Pan,H.Hiroshi,Q.Lei,M.Wu,Equivalentinput-disturbance approach enables sliding-mode control systems to reject unmatched disturbances,in 2015 IEEE International Conference on Industrial Technology,Seville,2015:226–231.
[18]K.Zhou,J.C.Doyle,K.Glover,Robust and optimal control,Prentice Hall,Inc.Simon and Schuster/A Viacom Company Upper Saddle River,New Jersey 07458,1996.
[19]D.W.C.Ho,G.Lu,Robust stabilization for a class of discrete-time non-linear system via output feedback:the unified LMI approach,Int J Control,76(2):105–115,2003.
[20]P.P.Khargonekar,I.R.Petersen,K.Zhou,Robust stabilization of uncertain linear systems:Quadratic stabilizability and H∞control theory,IEEE Trans.on Automatic Control,35(3):356–361,1990.