实例介绍
【实例简介】
干扰观测器经典教材干扰观测器经典教材
22,2014 Disturbance Observer-Based Control Methods and applications Shihua li. jun yang Wen-Hua Chen. Xisong Chen c CRC Press Boca raton london new york CRC Press is an imprint of the Taylor francis Group, an informa business CRC Press Taylor Francis Group 6000 Broken Sound Parkway Nw, Suite 300 Boca raton Fl 33487-2742 o 2014 by Taylor Francis Group, LLC CRC Press is an imprint of Taylor Francis Group, an Informa business No claim to original U.S. Government works Version date: 20140117 International Standard Book Number-13: 978-1-4665-1580-2(eBook- PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit- ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, om the publishers Forpermissiontophotocopyorusematerialelectronicallyfromthisworkpleaseaccesswww.copyright com(http://www.copyright.com/)orcontacttheCopyrightClearanceCenter,Inc.(ccc),222roSewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe Visit the taylor francis Web site at http://www.taylorandfrancis.com and the crc press Web site at http://www.crcpress.com lunder January 22, 2014 10: 3 K15053'Co00 To my wife Xiamei Huang with appreciation and love. Without her durative support behind me, there is no way for me to maintain a stable tracking control toward the desired research target. To my daughter Huangyu (Lisa) Li with love. She always brings me happiness and inspiration Shihua(Sandy)Li To my parents Heyu Yang and Aiqing Li, my wife Yanan Wei, and my son Haoyu Yang for their endless support and love un Yang To my parents Wen-Hua Chen To my wife and son Xi g lunder January 22, 2014 10: 3 K15053'Co00 Contents 1 gures… List of tables…,xxi Preface11x×il About the authors………xxvi SECTION OVERVIEW 1 Overview. 1.1 Introduction 1.2 Motivations 2.1 High-Gain Control 1.2.2 Integral Control 1.2.3 Disturbance Observer-Based Control 1.3 Basic Framework .3 1 Frequency Domain Formulation 1.3.2 Time Domain formulatic 14 Farly history… .8 1.4.1 An Overview on Disturbance Estimation Approaches...18 1.4.1 inear disturbance 18 1. 4.1.2 Nonlinear disturbance Observer 1.4.2 An Overview of disturbance estimation-Based 0 1.4.2.1 Robustness Performance and Stability ..............20 1.4.2.2 Composite Hierarchical Anti-Disturbance C 1.4.2.3 Compensation of Mismatched Disturbances 1.5 What Is in This Book Saunder January 22, 2014 10: 3 K15053'C000 Contents SECTION I DISTURBANCE ESTIMATION DESIGN 2 Linear Disturbance Estimator...................27 2. Introduction 27 2.2 Frequency Domain Disturbance Observer. 2.2.1 Minimum-Phase Case 2.2.2 Nonminimum Phase Case................31 2.3 Time Domain disturbance observer 34 2.4 Extended State Observer…… 37 2.5 Summary 3 Basic Nonlinear Disturbance Observer 3.1 Introduction............. 43 3. 2 Nonlinear disturbance observer for Constant disturbances 3.2.1 A Basic Formul 3.2.2 An Enhanced formulation 3.3 Nonlinear Disturbance Observer for General Exogenous Dist 46 3.3.1 A Basic Formulation 46 3.3.2 An Enhanced Formulation 47 3.4 Summary 51 4 Advanced nonlincar disturbance observermmm. 53 4.1 Introduction. 4.2 High-Order Disturbance Observer 4. 2.1 Constant Disturbance Case 4.2.2 Ramp Disturbance Case 4.2.3 High-Order Disturbance Case .58 4.3 Extended High-Gain State Observer 4.4 Finite-Time disturbance observer 65 4.5Su 68 SECTION III DISTURBANCE OBSERVER-BASED CONTROL DESIGN 5 Disturbance Observer-Based Control for Nonlinear Systems 看看D 71 5. 1 Introdu 5.2 A General Design Framework .72 5.3 Nonlinear Disturbance Observer-Based Control (Ndobc 5.3.1 Nonlinear Disturbance Observer 73 5.3.2 Composite Controller Design 74 Saunder January 22, 2014 10: 3 K15053'Co00 Contents■ 54 Example Study…… 76 5.5 Summary. 6 Generalized Extended State Observer-Based Control for Systems with mismatched Uncertainties 6.1 Introduction 6.2 Generalized Extended-State Observer-Based Control (GESOBC).8 6.2.1 Composite Control Design.....84 6.2.2 Stability and Disturbance Rejection Analysis... 6.2.2.1 Case of Measurable states 6.2.2.2 Case of Unmeasurable States 89 6. 3 Simulation Example ∴…….90 6. 4 Further discussions 6.4. 1 Extension to MIMO System 6.4.1.1 Solvability of the disturbance Compensation gain 6.4.1.2 Controllable Condi 6.4.2 Parameter Design for GESOBC 6.5 Summary 7 Nonlinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties. 7. 1 Introduction 4 95 7.2 Problem Formulation .96 7. 3 Novel Nonlinear Disturbance Observer-Based Control......9 7.3.1 Controller Design 7.3.2 Stability analysis 98 7.3.3 Disturbance Attenuation Analysis 100 7.4 Application to a Nonlinear missile 7. 4. 1 Longitudinal Dynamics of a Missile System 7. 4.2 Nonlinear Dynamic Inversion Control 7.4.3 Nonlinear Disturbance Observer-Based Robust Control. 104 7.4.4 Simulation studies 106 7.4.4. 1 External Disturbance Rejection Ability..........106 7.4.4.2 Robustness Against Model Uncertainties...109 7.5 Summary 114 8 Nonlinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative degrees……,…115 8. 1 Introduction 8.2 Problem Formulation 8.3 NDOBC for SISO Nonlinear System with Arbitrary DRD………117 【实例截图】
【核心代码】
干扰观测器经典教材干扰观测器经典教材
22,2014 Disturbance Observer-Based Control Methods and applications Shihua li. jun yang Wen-Hua Chen. Xisong Chen c CRC Press Boca raton london new york CRC Press is an imprint of the Taylor francis Group, an informa business CRC Press Taylor Francis Group 6000 Broken Sound Parkway Nw, Suite 300 Boca raton Fl 33487-2742 o 2014 by Taylor Francis Group, LLC CRC Press is an imprint of Taylor Francis Group, an Informa business No claim to original U.S. Government works Version date: 20140117 International Standard Book Number-13: 978-1-4665-1580-2(eBook- PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit- ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, om the publishers Forpermissiontophotocopyorusematerialelectronicallyfromthisworkpleaseaccesswww.copyright com(http://www.copyright.com/)orcontacttheCopyrightClearanceCenter,Inc.(ccc),222roSewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe Visit the taylor francis Web site at http://www.taylorandfrancis.com and the crc press Web site at http://www.crcpress.com lunder January 22, 2014 10: 3 K15053'Co00 To my wife Xiamei Huang with appreciation and love. Without her durative support behind me, there is no way for me to maintain a stable tracking control toward the desired research target. To my daughter Huangyu (Lisa) Li with love. She always brings me happiness and inspiration Shihua(Sandy)Li To my parents Heyu Yang and Aiqing Li, my wife Yanan Wei, and my son Haoyu Yang for their endless support and love un Yang To my parents Wen-Hua Chen To my wife and son Xi g lunder January 22, 2014 10: 3 K15053'Co00 Contents 1 gures… List of tables…,xxi Preface11x×il About the authors………xxvi SECTION OVERVIEW 1 Overview. 1.1 Introduction 1.2 Motivations 2.1 High-Gain Control 1.2.2 Integral Control 1.2.3 Disturbance Observer-Based Control 1.3 Basic Framework .3 1 Frequency Domain Formulation 1.3.2 Time Domain formulatic 14 Farly history… .8 1.4.1 An Overview on Disturbance Estimation Approaches...18 1.4.1 inear disturbance 18 1. 4.1.2 Nonlinear disturbance Observer 1.4.2 An Overview of disturbance estimation-Based 0 1.4.2.1 Robustness Performance and Stability ..............20 1.4.2.2 Composite Hierarchical Anti-Disturbance C 1.4.2.3 Compensation of Mismatched Disturbances 1.5 What Is in This Book Saunder January 22, 2014 10: 3 K15053'C000 Contents SECTION I DISTURBANCE ESTIMATION DESIGN 2 Linear Disturbance Estimator...................27 2. Introduction 27 2.2 Frequency Domain Disturbance Observer. 2.2.1 Minimum-Phase Case 2.2.2 Nonminimum Phase Case................31 2.3 Time Domain disturbance observer 34 2.4 Extended State Observer…… 37 2.5 Summary 3 Basic Nonlinear Disturbance Observer 3.1 Introduction............. 43 3. 2 Nonlinear disturbance observer for Constant disturbances 3.2.1 A Basic Formul 3.2.2 An Enhanced formulation 3.3 Nonlinear Disturbance Observer for General Exogenous Dist 46 3.3.1 A Basic Formulation 46 3.3.2 An Enhanced Formulation 47 3.4 Summary 51 4 Advanced nonlincar disturbance observermmm. 53 4.1 Introduction. 4.2 High-Order Disturbance Observer 4. 2.1 Constant Disturbance Case 4.2.2 Ramp Disturbance Case 4.2.3 High-Order Disturbance Case .58 4.3 Extended High-Gain State Observer 4.4 Finite-Time disturbance observer 65 4.5Su 68 SECTION III DISTURBANCE OBSERVER-BASED CONTROL DESIGN 5 Disturbance Observer-Based Control for Nonlinear Systems 看看D 71 5. 1 Introdu 5.2 A General Design Framework .72 5.3 Nonlinear Disturbance Observer-Based Control (Ndobc 5.3.1 Nonlinear Disturbance Observer 73 5.3.2 Composite Controller Design 74 Saunder January 22, 2014 10: 3 K15053'Co00 Contents■ 54 Example Study…… 76 5.5 Summary. 6 Generalized Extended State Observer-Based Control for Systems with mismatched Uncertainties 6.1 Introduction 6.2 Generalized Extended-State Observer-Based Control (GESOBC).8 6.2.1 Composite Control Design.....84 6.2.2 Stability and Disturbance Rejection Analysis... 6.2.2.1 Case of Measurable states 6.2.2.2 Case of Unmeasurable States 89 6. 3 Simulation Example ∴…….90 6. 4 Further discussions 6.4. 1 Extension to MIMO System 6.4.1.1 Solvability of the disturbance Compensation gain 6.4.1.2 Controllable Condi 6.4.2 Parameter Design for GESOBC 6.5 Summary 7 Nonlinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties. 7. 1 Introduction 4 95 7.2 Problem Formulation .96 7. 3 Novel Nonlinear Disturbance Observer-Based Control......9 7.3.1 Controller Design 7.3.2 Stability analysis 98 7.3.3 Disturbance Attenuation Analysis 100 7.4 Application to a Nonlinear missile 7. 4. 1 Longitudinal Dynamics of a Missile System 7. 4.2 Nonlinear Dynamic Inversion Control 7.4.3 Nonlinear Disturbance Observer-Based Robust Control. 104 7.4.4 Simulation studies 106 7.4.4. 1 External Disturbance Rejection Ability..........106 7.4.4.2 Robustness Against Model Uncertainties...109 7.5 Summary 114 8 Nonlinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative degrees……,…115 8. 1 Introduction 8.2 Problem Formulation 8.3 NDOBC for SISO Nonlinear System with Arbitrary DRD………117 【实例截图】
【核心代码】
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