Improve Disturbance-Rejection Performance for an Equivalent-Input-Disturbance-Based Control System by Incorporating a Proportional-Integral Observer

Wu, Min; Gao, Fang; Yu, Pan; She, Jinhua; Cao, Weihua

doi:10.1109/tie.2019.2898627

Cited by 50 publications

(17 citation statements)

References 31 publications

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“…On account of its ability to compensate for the undesirable effects caused by various classes of structured and unstructured uncertainties, disturbance observer-based control (DOBC) technique has been widely used to restore nominal control system performance and numerous control studies have been presented on the topic [10][11][12][13][14][15][16][17][18]. To mention a few, in [14] a predesigned cascade scheme controller which was used to regulate the output voltage of a DC/DC boost converter was augmented with a reduced-order PIO to maintain the desired voltage regulation performance under various uncertainties.…”

Section: Literature Reviewmentioning

confidence: 99%

Boundary Conditions for Transient and Robust Performance of a Reduced-Order Model-Based State Feedback Controller with PI Observer

et al. 2021

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One common technique employed in control system design to minimize system model complexity is model order reduction. However, controllers designed by using a reduced-order model have the potential to cause the closed-loop system to become unstable when applied to the original full-order system. Additionally, system performance improvement techniques such as disturbance observers produce unpredictable outcomes when augmented with reduced-order model-based controllers. In particular, the closed-loop system stability is compromised when a large value of observer gain is employed. In this paper, a boundary condition for the controller and observer design parameters in which the closed-loop system stability is maintained is proposed for a reduced-order proportional-integral observer compensated reduced-order model-based controller. The boundary condition was obtained by performing the stability analysis of the closed-loop system using the root locus method and the Routh-Hurwitz criterion. Both the observer and the state feedback controller were designed using a reduced-order system model based on the singular perturbation theory. The result of the theoretical analysis is validated through computer simulations using a DC (direct current) motor position control problem.

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Section: Literature Reviewmentioning

confidence: 99%

Boundary Conditions for Transient and Robust Performance of a Reduced-Order Model-Based State Feedback Controller with PI Observer

et al. 2021

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“…An EID is a signal on the control input circuit that produces a same effect on output as actual disturbance does (Wu et al, 2020). The output of system Equation (10) for the fault vector f is y if u equal to zero.…”

Section: Improved Smo-based Eid Fault Rejectionmentioning

confidence: 99%

“…where O r : = fv 1 , 0 ł v 1 ł v r g is an angular frequency band for the estimate of the equivalent-input-fault, and v r is a highest angular. It is reasonable to choose the cutoff angular frequency of M(s) to be more than 5;10 times larger than v r (Cai et al, 2019;Wu et al, 2020). That is, choose the time constant of M(s) to be T \ 1 5v r .…”

Section: Improved Smo-based Eid Fault Rejectionmentioning

confidence: 99%

“…She et al (2014) introduced an equivalent-input-disturbance (EID) theory to solve this problem for system disturbance. The EID method is effective in rejecting disturbances from control input channels and does not need to know the inverse model of a system (Cai et al, 2019;Wu et al, 2020). The basic idea of the EID is shown in our previous works presented in Huang et al (2019Huang et al ( , 2020 for the rejection of disturbance or a current sensor fault in PMSM drives.…”

Section: Introductionmentioning

confidence: 99%

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An improved sliding-mode observer-based equivalent-input-disturbance approach for permanent magnet synchronous motor drives with faults in current measurement circuits

Huang

et al. 2021

Transactions of the Institute of Measurement and Control

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The reliability of permanent magnet synchronous motor (PMSM) systems is very important in high-precision industrial drives. However, disturbance or sensor fault may cause the performance degradation of the system. This paper presents an improved sliding-mode-observer (SMO)-based equivalent-input-disturbance (EID) approach for the rejection of faults in current measurement circuits of a PMSM drive. A system model, which contains faults in current measurement circuits, is first constructed by using EIDs in control input circuits. Then, an improved SMO is designed to estimate the equivalent-input-faults. The effect of the faults on the system is rejected based on the EID theory. Moreover, the global stability and convergence analysis is also provided. Experiments and comparisons demonstrate the effectiveness of the method.

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“…The general idea is to maintain the actual state within a safety region along the optimal state trajectory [28]. Another approach is to design a disturbance observer to reject the disturbances leading to an improved system robustness [29,30]. The authors in [31] propose a nonlinear observer within an NMPC scheme for a SVC (Static Var Compensator) system to reject arbitrary disturbances relative degree from its output channels (used for shunt compensation to maintain bus voltage magnitude).…”

Section: Related Work and Remaining Open Problemsmentioning

confidence: 99%

Safe navigation in a coastal environment of multiple surface vehicles under uncertainties: A combined use of potential field constructions and NMPC

et al. 2020

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This paper deals with the motion planning problem for surface vehicles in the presence of varying environmental disturbances. The goal is to steer the vehicles from an initial to a final destination while ensuring connectivity and avoiding collision with fixed and moving obstacles. The novelty lies in the coherent combination among various ingredients for path generation and potential field constructions for collision avoidance and connectivity maintenance, all gathered in a distributed NMPC (Nonlinear Model Predictive Control) framework: i) LOS (Line-of-Sight) guidance and RRT* (optimal Rapidly-exploring Random Tree) algorithms are employed for generating a collision-free path considering static surroundings; ii) on-off barrier functions activate the proposed potential field components which are in the view range of the agents, hence ensuring safe navigation in a dynamic coastal environment with a low computation demand; iii) a NDO (Nonlinear Disturbance Observer) is integrated in the NMPC design to compensate the environmental disturbances. The proposed algorithm is validated through simulations and comparisons carried out over a benchmark for USVs (Unmanned Surface Vehicles) safe navigation in the Trondheim fjord, Norway.

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Improve Disturbance-Rejection Performance for an Equivalent-Input-Disturbance-Based Control System by Incorporating a Proportional-Integral Observer

Cited by 50 publications

References 31 publications

Boundary Conditions for Transient and Robust Performance of a Reduced-Order Model-Based State Feedback Controller with PI Observer

Boundary Conditions for Transient and Robust Performance of a Reduced-Order Model-Based State Feedback Controller with PI Observer

An improved sliding-mode observer-based equivalent-input-disturbance approach for permanent magnet synchronous motor drives with faults in current measurement circuits

Safe navigation in a coastal environment of multiple surface vehicles under uncertainties: A combined use of potential field constructions and NMPC

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