Stability analysis of a control system with nonlinear input uncertainty based on disturbance observer

机译：基于干扰观测器的非线性输入不确定性控制系统的稳定性分析

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Summary >In disturbance observer (DO)‐based control, control input attenuates a disturbance using observer output. Thus, the input may not achieve the attenuation if the input term includes uncertainty. Therefore, in order to correctly suppress the disturbance, it is essential to consider the uncertainty existing in the input term, and thus this article focuses on a nonlinear uncertainty in the input term. This article analyzes the stability and robustness of a DO‐based nonlinear control system with both the disturbance and the input uncertainty. We address the case that the disturbance and the uncertainty depend on time and states of a controlled system. The disturbance and the uncertainty are gathered in an integrated disturbance, and the integrated disturbance depends on many variables: the states, the control input, and the time. Therefore, a norm estimations for the disturbance and a time variation of the disturbance is difficult without knowledge of the state trajectory. Hence, a slope‐restriction for the disturbance is used for the stability analysis. Based on the mathematical analysis, we show input‐to‐state stability conditions due to extend the application class of the DO‐based controller to a control system with the disturbance and the nonlinear input uncertainty. The analytical results are verified by numerical simulations. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“EN”XML：ID =“RNC4999-ABS-ABS-0001”> <标题类型=“main”>摘要</ title> >在干扰观察者（DO）控制的控制中，控制输入使用观察者输出衰减干扰。因此，如果输入项包括不确定性，则输入可能无法达到衰减。因此，为了正确抑制干扰，必须考虑输入项中存在的不确定性，因此本文侧重于输入项中的非线性不确定性。本文分析了基于DO的非线性控制系统的稳定性和稳健性，具有干扰和输入不确定性。我们解决了干扰和不确定性的情况取决于受控系统的时间和状态。这种干扰和不确定性都聚集在集成的干扰中，综合干扰取决于许多变量：状态，控制输入和时间。因此，扰乱的常态估计和干扰的时间变化是困难的，而不是对状态轨迹的了解。因此，对扰动的斜率限制用于稳定性分析。基于数学分析，我们表示引起的输入到状态稳定性条件，以将基于DO的控制器的应用类扩展到控制系统，具有干扰和非线性输入不确定性。分析结果通过数值模拟验证。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2020年第11期</span><b style="margin: 0 2px;">|</b><span>共16页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=disturbance observer&option=203" rel="nofollow">disturbance observer;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=nonlinear system&option=203" rel="nofollow">nonlinear system;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=robustness and stability&option=203" rel="nofollow">robustness and stability;</a> </p> <div class="translation"> 机译：干扰观察者;非线性系统;鲁棒性和稳定性; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li 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