Robust Tracking and Disturbance Rejection for Linear Uncertain System with Unknown State Delay and Disturbance

Pan Yu, Min Wu, Jinhua She, Kang Zhi Liu, Yosuke Nakanishi

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

A robust tracking control method is presented in this paper for an uncertain plant with an unknown state delay and an exogenous disturbance. The effects of the uncertainties, the delay, and the exogenous disturbance are treated as a total disturbance; thus, the construction of the observer does not need the delay information. The system design is divided into the design of the gains of the state-feedback controller as well as the design of the gains of the observer and the improved equivalent-input-disturbance (EID) estimator. The pole-assignment method is used to design the gains of the state-feedback controller of a simplified system. A robust-stability condition in the form of a linear matrix inequality is derived to determine the gains of the observer and the improved EID estimator. Since the devised Lyapunov functional is of a more general form than those in existing EID-based methods and the restrictive commutative condition is avoided in this design, the developed design method is less conservative. Finally, comparisons of the developed method with a sliding-mode control method for a matched disturbance and a conventional EID-based method for an unmatched disturbance illustrate the validity and superiority of the developed method.

Original languageEnglish
Pages (from-to)1445-1455
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume23
Issue number3
DOIs
Publication statusPublished - 2018 Jun 1

Keywords

  • Disturbance estimation
  • disturbance rejection
  • equivalent input disturbance (EID)
  • linear matrix inequality (LMI)
  • robust control
  • state delay
  • uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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