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Disturbance rejection for nonlinear uncertain systems with output measurement errors: Application to a helicopter model

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journal contribution
posted on 17.04.2019, 10:40 by Yunda Yan, Chuanlin Zhang, Cunjia Liu, Jun Yang, Shihua Li
As a virtual sensor, disturbance observer provides an alternative approach to reconstruct lumped disturbances (including external disturbances and system uncertainties) based upon system states/outputs measured by physical sensors. Not surprisingly, measurement errors bring adverse effects on the control performance and even the stability of the closed-loop system. Toward this end, this paper investigates the problem of disturbance observer based control for a class of disturbed uncertain nonlinear systems in the presence of unknown output measurement errors. Instead of inheriting from the estimation-error-driven structure of Luenberger type observer, the proposed disturbance observer only explicitly uses the control input. It has been proved that the proposed method endows the closed-loop system with strong robustness against output measurement errors and system uncertainties. With rigorous analysis under the semiglobal stability criterion, the guideline of gain choice based upon the proposed structure is provided. To better demonstrate feature and validity of the proposed method, numerical simulation and comparative experiments of a helicopter model are implemented.

Funding

This work was supported in part by the National Natural Science Foundation of China under the Grants 61473080, 61573099, 61750110525, and 61633003, in part by The Program for Professor of Special Appointment (Eastern Scholar) at Shanghai Institutions of Higher Learning, in part by the UK Engineering and Physical Science Research Council (EPSRC) under the Grant EP/P012868/1.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Industrial Informatics

Volume

16

Issue

5

Pages

3133 - 3144

Citation

YAN, Y. ... et al, 2019. Disturbance rejection for nonlinear uncertain systems with output measurement errors: Application to a helicopter model. IEEE Transactions on Industrial Informatics, 16(5), pp. 3133 - 3144.

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

AM (Accepted Manuscript)

Acceptance date

08/04/2019

Publication date

2019-04-15

Copyright date

2020

Notes

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

ISSN

1941-0050;1551-3203

Language

en

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