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1st Edition

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Automation and Control Engineering

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Control Engineering Practice. Cui, B. Tee, B. San, B. Ge, and T. Chen, S. Ge, and B. Ge, K. Tee, and T. Ge, T. Lee, and C. Su and, T. Ge, B. Ren, K. Hong, S.

Feedforward Control

Ren, and T. International Journal of Robust and Nonlinear Control. Journal of Systems Science and Complexity. Liyanage, Y. Wang, Y. Dai, C. Annasiwatta, A. Bernussi, Z. Fan, J. Berg and B. Dong and B. Parlange, J. Martinez-Carranza, L. Sucar, and B. Annasiwatta, J. Berg, A.

Fan and B. Dong, B. Lu, S. Parameswaran, and B. Dai, B. Guo, B. Yan, Z. Peng, H.

Hong, X. Zhu, Q. Ren, and C. Wang, Q. Zhong and B. Chen, J. Dai, Q. Liyanage, J. Berg, B. Ren, and D. Boundedness of Synchronverters. Wang, L. Liu, and B. One feature of DOBC is with simple structure. The basic idea is to estimate the external disturbance with disturbance observer, and then compensate in the feed-forward channel immediately. Since then, DOBC has been widely used in various engineering systems, such as robot manipulators [23—25], high speed direct-drive positioning tables [26], permanent magnet synchronous motors [27], table drive systems [28], hard disks [29] and magnetic hard drive servo systems [30].


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  • 1. Background.
  • Anti-Disturbance Control for Systems with Multiple Disturbances;
  • MonetKessakumeigasyu (Japanese Edition).
  • Anti-disturbance control theory for systems with multiple disturbances: a survey..
  • Anti-disturbance control theory for systems with multiple disturbances: a survey.?

In LDOBC approaches, nonlinearities and disturbances were merged into a generalized disturbance, so that linear design techniques could be used. In addition, less systematic results of stability analysis were provided for a pure frequency-domain approach.

Anti-Disturbance Control for Systems with Multiple Disturbances : Lei Guo :

In [18], a root locus method was proposed for stability analysis. DOBC structure and passive controller were compared in [24]. Based on the equivalence of these two methods, the stability of a special DOBC was proved. Due to the presence of a phase lag, the result has some conservativeness.

Meanwhile, the frequency domain control structure could easily lead to instability for some special disturbance. Although simple and practicable, it is limited to the trial and error method, and lacks a rigorous theoretical analysis. Most time-domain based approaches also focused on linear models or some linearizable nonlinear systems. The time-invariant and time-varying unknown disturbances were considered in [31] and [25] respectively.

In [27], a reduced-order disturbance observer was proposed for permanent magnet synchronous motors. In [33], a composite approach combining disturbance observer and variable structure systems was proposed for minimum-phase systems with arbitrary relative degree, where uncertainties and exogenous inputs as well as nonlinearities were merged into an equivalent disturbance. In [34], an NLDOBC was presented to improve the performance and robustness against friction and uncertain dynamics for a robotic system.

1st Edition

In [36], the estimation of timeinvariant disturbance can be obtained by using Lyapunov theory without normal observer type. Simulation results demonstrate that DOBC is better than adaptive control and sliding mode control for tracking control problem of robotic manipulators. However, the considered disturbance was supposed to be a constant load or harmonic signal in [34—36]. Robustness analysis of DOBC was proposed in [37,38], where an outer-loop controller can be combined with an inner-loop controller to enhance the closedloop system performance.

A composite controller was proposed to reject the mismatched disturbances from output channels for a nonlinear magnetic leviation suspension system [39]. Recently, a new NLDOBC framework has been proposed to nonlinear systems with time varying or model-free disturbance [41—43].

Please cite this article as: Guo L, Cao S. First, it is possible to integrate other control strategies with DOBC. This approach provides a framework to enhance disturbance rejection by combining other nonlinear control methods that focus on systems in the absence of disturbances. Second, DOBC can provide a stability analysis and synthesis approach for systems with disturbances. The design procedure is relatively simple and easy to accept by engineers.

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Composite hierarchical anti-disturbance control CHADC Along with the development of sensor technology and data processing, multiple disturbances exist in most practical systems and one can formulate them into different mathematical descriptions after modeling analysis and error analysis [45,46]. Fox example, spacecraft in a complex environment contains not only nonlinear dynamics, uncertainties, transit delay, vibrating structural of solar paddles, but also sensor measurement noise, control error, as well as environmental disturbance torque of outer space such as gravity gradient moment, solar radiation pressure moment and aerodynamic moment [47,48].

Most of the above-mentioned disturbance attenuation or rejection methods, such as internal model control, robust control, and stochastic control, were used for systems with a single disturbance. In order to improve the control precision, it is necessary to study new antidisturbance approaches for systems with multiple disturbances.