Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
Wen-Hua Chen
2134/37055
https://repository.lboro.ac.uk/articles/journal_contribution/Development_of_nonlinear_disturbance_observer_based_control_and_nonlinear_PID_A_personal_note/9228629
This paper gives an overview of early development
of nonlinear disturbance observer design technique and the
Disturbance Observer Based Control (DOBC) design. Some
critical points raised in the development of the methods have
been reviewed and discussed which are still relevant for many
researchers or practitioners who are interested in this method.
The review is followed by the development of a new type of
nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the
DOBC consisting of a predictive control method and a nonlinear
disturbance observer could reduce to a nonlinear PID with special
features. Experimental results show that, compared with the
predictive control method, the developed controller significantly
improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in
the development of DOBC and related methods, and building
up more understanding between this group of control methods
with comparable ones (particularly control methods with integral
action).
2019-03-05 09:38:12
untagged
Engineering not elsewhere classified