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

*この研究の対応する著者

研究成果: Article査読

35 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1445-1455
ページ数11
ジャーナルIEEE/ASME Transactions on Mechatronics
23
3
DOI
出版ステータスPublished - 2018 6月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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