Nonlinear PID Predictive Controller

Jun Yang * , Wen-Hua Chen † , and Shihua Li * Abstract: Robust control of nonlinear systems with disturbances and uncertainties is addressed in this paper using disturbance observer based control technique. In this framework, the "disturbance" is a generalized concept, which may include external disturbances, unmodeled dynamics, and system parameter perturbations. The existing disturbance observer based control (DOBC) methods were only applicable for the case where disturbances and uncertainties satisfy so called matching condition, i.e., they enter the system in the same channel as the control inputs. By appropriately designing a disturbance compensation gain vector in the composite control law, a nonlinear disturbance observer based robust control (NDOBRC) method is proposed in this paper to attenuate the mismatched disturbances and the influence of parameter variations from system output channels.The proposed method is applied to a nonlinear missile system in the presence of various uncertainties and external disturbances. Simulation shows that, compared with the widely used nonlinear dynamic inversion control (NDIC) and NDIC plus integral action (NDIC+I) methods, the proposed method provides much better disturbance attenuation ability and stronger robustness against various parameter variations. The proposed method significantly extends the applicability of the DOBC methods.

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“…For system (1), the following nonlinear disturbance observer (NDOB) is proposed in [1,3,18] to estimate the unknown disturbances d, given by…”

Section: Nonlinear Disturbance Observermentioning

confidence: 99%

Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties

Yang

Chen

2011

IET Control Theory &Amp; Applications

324

180

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“…In the recent decade, various design techniques have been intensively developed for disturbance observer to fully use the information of external disturbances [23][24][25][26][27]. In literatures, disturbance observers were used to approximate external disturbance, and robust control were developed based on the output of disturbance observers.…”

Section: Introductionmentioning

confidence: 99%

“…The general framework was given for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) technique [26]. The nonlinear predictive control was proposed using the disturbance observer in [27].…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy tracking control for a class of uncertain MIMO nonlinear systems using disturbance observer

Chen

2012

Sci. China Inf. Sci.

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Citation: CHEN, M., CHEN, W-H. and WU, Q-X., 2014. Adaptive fuzzy tracking control for a class of uncertain MIMO nonlinear systems using disturbance observer. Science China Information Sciences, 57 (1), pp 1-13.Additional Information:• Loughborough, Leicestershire LE11 3TU, UK Abstract: In this paper, adaptive fuzzy tracking control is proposed for a class of multi-input and multi-output (MIMO) nonlinear systems in the presence of system uncertainties, unknown nonsymmetric input saturation and unknown external disturbances. For the MIMO nonlinear system, the time-varying external disturbance cannot be directly measured which is estimated via disturbance observer. By choosing the appropriate gain matrix, disturbance observer can approximate the unknown disturbance well and the estimate error converges to a compact set. And then, fuzzy logic systems (FLS) are used to approximate the system uncertainty of MIMO nonlinear systems.Based on outputs of disturbance observer and FLS, adaptive tracking control is presented for the uncertain MIMO nonlinear system. Considering the unknown non-symmetric input saturation and control singularity case, adaptive fuzzy tracking control is developed via disturbance observer and FLS approximation technique. The effects of unknown input saturation and control singularity are treated as a part of system compound disturbance which is estimated using disturbance observer.Under the proposed tracking control techniques, semi-global uniform boundedness of the closed-loop signals is guaranteed via Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed tracking control schemes.

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“…Recently Chen et al (1999c) proposed a new nonlinear model predictive control algorithm which can remove the computational burden and stability issues. The proposed nonlinear predictive controller is given in a closed-form and thus no online optimisation is required.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control of nonlinear systems: Computational burden and stability

Chen

Ballance

O’Reilly

2000

IEE Proceedings - Control Theory and Applications

Self Cite

111

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• This is a journal article. It was published in the journal, IEE proceedings: control theory and applications and is subject to Institution of Engineering The stability condition presented in this paper enables the "fictitious" terminal control to be nonlinear, rather than only linear, and thus the stability region is greatly enlarged. Furthermore it is pointed out that nominal stability is still guaranteed even though the global, or even the local, minimisation of the objective cost is not achieved within the prescribed computational time.Keywords: Nonlinear systems, generalised predictive control, computational delay, optimisation, stability, constrained control online optimisation problem:subject to system dynamics,andfor τ ∈ [0, δ] where δ denotes the sampling time interval, R > 0, Q > 0 or Q ≥ 0 and non-zero x is detectable in the performance index and P > 0Fact 1: The constraint (3) is convex if the matrix P satisfies (4). Submitted to IEE Part D: Control Theory and Applications 3The constraint (3) can be written as

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Nonlinear PID Predictive Controller

Cited by 153 publications

References 28 publications

Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties

Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties

Adaptive fuzzy tracking control for a class of uncertain MIMO nonlinear systems using disturbance observer

Model predictive control of nonlinear systems: Computational burden and stability

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