Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances

doi:10.1002/rnc.3972

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	Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances
	Xue, Wenchao1,2,3 ; Huang, Yi1,2,3
	2018-03-10
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN	1049-8923
卷号	28 期号:4 页码:1456-1473
摘要	In this paper, the tracking control problem is considered for a class of uncertain nonlinear systems with infinite discontinuous points in the external disturbance. The extended state observer-based 2-degree-of-freedom control is used with one degree to estimate and cancel the total disturbance and the other to force the closed-loop system to have desired characteristics. The tracking error between the state vector and its ideal trajectory in the entire transient process is adequately discussed to illuminate the performance of resulting control systems. The quantitative analysis shows that the tracking error can be small enough by tuning the bandwidth of the extended state observer. Moreover, the necessary and sufficient condition for the tracking error and the estimation error of the total disturbance to converge to zero is presented. The simulation results of a motion test demonstrate that the desired performance of the control system can be achieved despite discontinuous disturbance and nonlinear uncertainties.
关键词	discontinuous disturbance disturbance estimation extended state observer (ESO) nonlinear uncertain systems 2-degree-of-freedom (2-DOF) control
DOI	10.1002/rnc.3972
语种	英语
资助项目	National Natural Science Foundation of China[61633003-3] ; National Natural Science Foundation of China[61603380] ; National Basic Research Program of China[2014CB845301]
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000423113300020
出版者	WILEY
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/155
专题	国家数学与交叉科学中心系统科学研究所
通讯作者	Xue, Wenchao
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Acad Math & Syst Sci, Natl Ctr Math & Interdisciplinary Sci, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Xue, Wenchao,Huang, Yi. Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2018,28(4):1456-1473.
APA	Xue, Wenchao,&Huang, Yi.(2018).Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,28(4),1456-1473.
MLA	Xue, Wenchao,et al."Performance analysis of 2-DOF tracking control for a class of nonlinear uncertain systems with discontinuous disturbances".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 28.4(2018):1456-1473.