Adding robustness to nominal output-feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer

Automatica

Volumn 44, Issue 10, 2008, Pages 2528-2537

  Back, Juhoon ^a   Shim, Hyungbo ^b  

^a Kwangwoon University   (South Korea)

^b Seoul National University   (South Korea)

Author keywords

Disturbance observer; Nonlinear output feedback; Performance recovery; Robust control; Singular perturbation

Indexed keywords

DISTURBANCE REJECTION; FEEDBACK; FEEDBACK CONTROL; NONLINEAR CONTROL SYSTEMS; NONLINEAR SYSTEMS; OBSERVABILITY; ROBUST CONTROL; SYSTEM STABILITY;

A-STABLE; CLOSED-LOOP SYSTEMS; DISTURBANCE OBSERVER; DISTURBANCE OBSERVERS; LINEAR DISTURBANCE; NONLINEAR OUTPUT FEEDBACK; OUTER-LOOP CONTROLLER; OUTPUT FEEDBACKS; OUTPUT-FEEDBACK CONTROLLERS; PERFORMANCE RECOVERY; PLANT UNCERTAINTIES; RELATIVE DEGREES; SINGULAR PERTURBATION; STEADY-STATE PERFORMANCE; TRANSIENT PERFORMANCE; UNCERTAIN NONLINEAR SYSTEMS; ZERO DYNAMICS;

CONTROL THEORY;

EID: 52949143820     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2008.02.024     Document Type: Article

References (28)

1. Atassi A.N., and Khalil H.K. A separation principle for the stabilization of a class of nonlinear systems. IEEE Transactions on Automatic Control 44 9 (1999) 1672-1687
2. Back, J., & Shim, H. (2007). Analysis and synthesis of disturbance observer as a tool for nonlinear robust control. In Proc. of 7th IFAC symp. on nonlinear control systems
3. Bohn C., Cortabarria A., Hartel V., and Kowalczyk K. Active control of engine-induced vibrations in automotive vehicles using disturbance observer gain scheduling. Control Engineering Practice 12 (2004) 1029-1039
4. Choi Y., Yang K., Chung W.K., Kim H.R., and Suh I.H. On the robustness and performance of disturbance observers for second-order systems. IEEE Transactions on Automatic Control 48 2 (2003) 315-320
5. Chakrabortty, A., & Arcak, M. (2007). A two-time-scale redesign for robust stabilization and performance recovery of uncertain nonlinear systems. In Proc. of American control conf. (pp. 4643-4648)
6. Eom K.S., Suh I.H., and Chung W.K. Disturbance observer based path tracking control of robot manipulator considering torque saturation. Mechatronics 11 (2001) 325-343
7. Evans W.R. Control system synthesis by the root locus method. Transactions on AIEE 69 (1950) 67-69
8. Franklin G.F., Powell J.D., and Emami-Naeini A. Feedback control of dynamic systems. 5th ed. (2005), Prentice Hall
9. Freidovich, L.B., & Khalil, H.K. (2006). Robust feedback linearization using extended high-gain observers. In Proc. of conf. on decision and control (pp. 983-988)
10. Guvenc B.A., and Guvenc L. Robust two degree-of-freedom add-on controller design for automatic steering. IEEE Transactions on Control Systems Technology 10 1 (2002) 137-148
11. Hoppensteadt F.C. Singular perturbations on the infinite interval. Transactions of the American Mathematical Society 123 2 (1966) 521-535
12. Isidori A. Nonlinear control systems. 3rd ed. (1995), Springer-Verlag
13. Jo N.H., and Seo J.H. Local separation principle for non-linear systems. International Journal of Control 73 (2000) 292-302
14. Khalil H.K. Nonlinear systems. 3rd ed. (2002), Prentice-Hall
15. Khalil H.K., and Esfandiari F. Semiglobal stabilization of a class of nonlinear systems using output feedback. IEEE Transactions on Automatic Control 38 9 (1993) 1412-1415
16. Krener A.J., and Isidori A. Linearization by output injection and nonlinear observers. Systems & Control Letters 3 (1983) 47-52
17. Lobry, C., & Sari, T. (2000). The peaking phenomenon and singular perturbations: An extension of Tikhonov's theorem. INRIA research report, no. 4051
18. Mahmoud N.A., and Khalil H.K. Asymptotic regulation of minimum phase nonlinear systems using output feedback. IEEE Transactions on Automatic Control 41 10 (1996) 1402-1412
19. Ohnishi K. A new servo method in mechatronics. Transactions of Japanese Society of Electrical Engineers 107-D (1987) 83-86 (in Japanese)
20. Radke, A., & Gao, Z. (2006). A Survey of state and disturbance observers for practitioners. In Proc. of conf. on decision and control (pp. 5183-5188)
21. Ryoo J.R., Doh T.Y., and Chung M.J. Robust disturbance observer for the track-following control system of an optical disk drive. Control Engineering Practice 12 (2004) 577-585
22. Schrijver E., and van Dijk J. Disturbance observers for rigid mechanical systems: Equivalence, stability, and design. Journal of Dynamic Systems, Measurement, and Control 124 (2002) 539-548
23. Shahruz S.M., Cloet C., and Tomizuka M. Suppression of effects of non-linearities in a class of non-linear systems by disturbance observers. Journal of Sound and Vibration 249 2 (2002) 405-415
24. Shim H., and Seo J.H. Nonlinear output feedback stabilization on a bounded region of attraction. International Journal of Control 73 5 (2000) 416-426
25. Shim, H., & Joo, Y. (2007). State space analysis of disturbance observer and a robust stability condition. In Proc. of conf. on decision and control (pp. 2193-2198)
26. Sussmann H.J., and Kokotović P.V. The peaking phenomenon and the global stabilization of nonlinear systems. IEEE Transactions on Automatic Control 36 4 (1991) 424-440
27. Teel A., and Praly L. Global stabilizability and observability imply semi-global stabilizability by output feedback. Systems & Control Letters 22 (1994) 313-325
28. Umeno T., and Hori Y. Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators. IEEE Transactions on Industrial Electronics 40 5 (1993) 473-485