This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To facilitate this concept, a nonlinear disturbance observer is developed for disturbances generated by an exogenous system, and global exponential stability is established under certain condition. Furthermore, semiglobal stability condition of the composite controller consisting of a nonlinear controller and the nonlinear disturbance observer is established. The developed method is illustrated by the application to control of a two-link robotic manipulator.

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Disturbance observer based control for nonlinear systems

https://escholarship.org/content/qt8rf718jm/qt8rf718jm.pdf?t=krnesf

Recent Advances in Mechanical Micromachining

A novel type of control scheme combining the disturbance-observer-based control (DOBC) with H∞ control is proposed for a class of complex continuous models with disturbances. The disturbances are supposed to include two parts. One part in the input channel is generated by an exogenous system with uncertainty, which can represent the harmonic signals with modeling perturbations. The other part is supposed to have the bounded H2-norm. Parametric uncertainties exist both in concerned plant and in exogenous subsystem. The disturbance observers based on regional pole placement and D-stability theory are designed and integrated with conventional H∞ control laws. The new composite DOBC and H∞ control scheme is applied to complex continuous models for the case with known and unknown nonlinearity, respectively. Then the first type of disturbances can be estimated and rejected, and the second type can be attenuated; simultaneously, the desired dynamic performances can be guaranteed. Simulations for a flight control system are given to demonstrate the effectiveness of the results and compare the proposed results with the previous schemes. Copyright © 2009 John Wiley & Sons, Ltd.

Composite disturbance-observer-based control and H∞ control for complex continuous models

Robust control of non-linear systems with disturbances and uncertainties is addressed in this study using disturbance observer-based control (DOBC) technique. In this framework, the `disturbance` is a generalised concept, which may include external disturbances, unmodelled dynamics and system parameter perturbations. The existing DOBC methods were only applicable for the case where disturbances and uncertainties satisfy so-called matching condition, that is, they enter the system in the same channel as the control inputs. By appropriately designing a disturbance compensation gain vector in the composite control law, a non-linear disturbance observer-based robust control method is proposed in this study to attenuate the mismatched disturbances and the influence of parameter variations from system output channels. The proposed method is applied to a missile system with non-linear dynamics in the presence of various uncertainties and external disturbances. Simulation shows that, compared with the widely used non-linear dynamic inversion control (NDIC) and NDIC plus integral action methods, the proposed method provides much better disturbance attenuation ability and stronger robustness against various parameter variations.

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Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties

Mechanical (direct-drive) systems designed for high-speed and high-accuracy applications require control systems that eliminate the influence of disturbances like cogging forces and friction. One way to achieve additional disturbance rejection is to extend the usual (P(I)D) controller with a disturbance observer. There are two distinct ways to design, represent, and implement a disturbance observer, but in this paper it is shown that the one is a generalization of the other. A general systematic design procedure for disturbance observers that incorporates stability requirements is given. Furthermore, it is shown that a disturbance observer can be transformed into a classical feedback structure, enabling numerous well-known tools to be used for the design and analysis of disturbance observers. Using this feedback interpretation of disturbance observers, it will be shown that a disturbance observer based robot tracking controller can be constructed that is equivalent to a passivity based controller. By this equivalence not only stability proofs of the disturbance observer based controller are obtained, but it also provides more transparent controller parameter selection rules for the passivity based controller.

Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design

Design and implementation of a discrete-time tracking controller for a precision positioning table actuated by direct-drive motors is considered. The table has acceleration capabilities in excess of 5 G, positioning accuracy at the micron level, and is used in applications such as semiconductor packaging. The controller proposed uses a disturbance observer and proportional derivative (PD) compensation in the feedback path and a zero phase error tracking controller and zero phase low-pass filter in the feedforward path. The existing disturbance observer design techniques are extended to account for time delay in the plant. Practical difficulties with excessive feedforward gains are examined and a low-order filter design method is proposed. Experimental results for quantized low-order position reference trajectories, which are commonly used in industrial systems, demonstrate the effectiveness of the approach.

C.J. Kempf

Papers

Disturbance observer and feedforward design for a high-speed direct-drive positioning table