Robust Predictive Control of a Class of Nonlinear Systems

Panchal, Bhavnesh; Kolhe, Jaywant P.; Talole, S. E.

doi:10.2514/1.g000694

Cited by 24 publications

(20 citation statements)

References 36 publications

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“…Finally, in order to show the advantage of the proposed NDOB, ESO [19][20][21], an infinite time convergence observer, is used in the proposed framework to replace NODB. The comparison results under Case 3 are plotted in Fig.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…In this field, the disturbance observer (DOB) is a powerful tool to deal with uncertainties. To enhance the disturbance rejection performance in autopilot design, the extended state observer (ESO) was adopted to robustify the dynamic inversion autopilot, linear quadratic regulation (LQR) autopilot, and predictive autopilot in [19], [20], and [21], respectively. In [22], the authors used DOB to estimate the coupling terms and external disturbances for bank-to-turn missiles.…”

Section: Introductionmentioning

confidence: 99%

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Robust Missile Autopilots With Finite‐Time Convergence

He¹,

Wang²,

Lin³

2015

Asian Journal of Control

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This paper presents a new longitudinal autopilot to address the finite-time tracking problem for uncertain agile missiles. The proposed autopilot is essentially a composite control scheme, which is obtained through the finite-time control methodology and the nonlinear disturbance observer (NDOB) approach. The key idea in this scheme is that the NDOB is adopted to estimate the aerodynamic uncertainties and external disturbances in an integrated manner. With the aid of the finite-time bounded function and the Lyapunov function method, the finite-time stability of the closed-loop system is established, which shows that the angle-of-attack response will converge to the external command signal in finite time. Numerical simulation results are presented to demonstrate the superiority of the proposed scheme.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Missile Autopilots With Finite‐Time Convergence

He¹,

Wang²,

Lin³

2015

Asian Journal of Control

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“…where (16) is the observer gain vector. Now using the estimates of d and output derivatives in (12), the resulting predictive controller takes the form as + where i5 is the estimate of Z 5 , i.e., the uncertainty d and e (t ) = ii -zt.…”

Section: Extended State Observermentioning

confidence: 99%

“…The ESO can estimate the effect of uncertainties along with the states of the system enabling disturbance rejection. The approach has been used in a large number of applications in diverse fields such as in robust control for MEMS Gyroscopes [22], speed control of induction motor drive [23], motion control of a Stewart platform [24], torsional vibration control of main drive system of a rolling mill [25], robotic hand-eye coordination [26], control of flexible joint system [19], [27], pitch autopilot design for tactical missiles [16], [28], height control system for sea-skinuning missiles [29]. In this section, the approach is employed to robustify the predictive controller (12).…”

Section: Extended State Observermentioning

confidence: 99%

“…To address these issues, an Extended State Observer (ESO) is designed to estimate the output derivatives as well as the effect of uncertainties and dis turbances. The estimates are then employed in the predictive control law for the robustification of the same leading to robust predictive control design [15], [16]. Numerical simulations results as applied to trajectory tracking control problem of Quanser's flexible joint system are presented to demonstrate efficacy of the design.…”

Section: Introductionmentioning

confidence: 98%

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Experimental validation of robust predictive controller

Pancha

Kolhe²,

Talole

2015

2015 International Conference on Industrial Instrumentation and Control (ICIC)

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In this work, design and experimental validation of an Extended State Observer (ESO) based robust predictive controller for flexible joint system is presented. An output tracking predictive controller is designed for control of flexible joint system. However, the controller requires accurate mathe matical model as well as output derivatives to be available for its implementation. In this work, the issues are addressed by estimating the plant uncertainty and output derivatives by using an ESO. The ESO estimates the output derivatives and modeling uncertainty simultaneously and the estimates are used in the predictive controller designed for nominal system. Closed loop stability of the overall system is established. Numerical simulation results of the proposed approach as applied to the flexible joint system are presented and it is shown that the ESO based predictive controller offers improved performance. Finally, the efficacy of the proposed design is validated through experiments carried on Quanser's flexible joint module. The results show that the ESO based design offers superior performance in presence of significant plant uncertainty.

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Active disturbance rejection control: Applications in aerospace

Talole

2018

Control Theory Technol.

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Robust Predictive Control of a Class of Nonlinear Systems

Cited by 24 publications

References 36 publications

Robust Missile Autopilots With Finite‐Time Convergence

Robust Missile Autopilots With Finite‐Time Convergence

Experimental validation of robust predictive controller

Active disturbance rejection control: Applications in aerospace

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