摘要
This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-forward compensation active disturbance rejection control(FFC-ADRC) approach is proposed. It combines advantages of the Smith predictor and the traditional active disturbance rejection control(ADRC). The tracking differentiator(TD) is designed to predict the control signal, which adds an anticipatory control to the control signal and allows a higher observer bandwidth to obtain better disturbance rejection. The modified extended state observer(ESO) is designed to estimate both system states and the total disturbances(internal disturbance, uncertainties and delayed disturbance). Then the Lyapunov theory and the theory of the input-output stability are applied to prove the asymptotic stability of the closed-loop control system. Finally, numerical simulations show the effectiveness and practicality of the proposed design.
This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-forward compensation active disturbance rejection control(FFC-ADRC) approach is proposed. It combines advantages of the Smith predictor and the traditional active disturbance rejection control(ADRC). The tracking differentiator(TD) is designed to predict the control signal, which adds an anticipatory control to the control signal and allows a higher observer bandwidth to obtain better disturbance rejection. The modified extended state observer(ESO) is designed to estimate both system states and the total disturbances(internal disturbance, uncertainties and delayed disturbance). Then the Lyapunov theory and the theory of the input-output stability are applied to prove the asymptotic stability of the closed-loop control system. Finally, numerical simulations show the effectiveness and practicality of the proposed design.
基金
supported by the National Natural Science Foundation of China(61304026)
作者简介
Dongyang Zhang was born in 1987. She is a Ph.D.candidate in control theory and control engineering,Beijing Institute of Technology. She received her B.S. degree in measuring and controlling technology and instrument, from Yanshan University in 2011. She received her M.S. degree in control engineering from Beijing Institute of Technology in 2013. Her research interest covers control of industry and active disturbance rejection control.E-mail: zhangdongyang2006@163.com;Corresponding author.Xiaolan Yao was born in 1964. She received her B.S. degree inmechanical engineering in 1987,M.S.degree in automatic control in 1990 and Ph.D. degree in electromechanical engineering in 2003, respectively,from Beijing Institute of Technology. She is a professor in Beijing Institute of Technology. Her research interest covers complicated industry system control.E-mail: yaoxiaolan@bit.edu.cn;Qinghe Wu was born in 1954. He received his B.S.degree in automatic control, in 1982, from Central College of Engineering, Huazhong University of Science and Technology, and M.S. degree and Ph.D.degree in 1984 and 1990, respectively, from Eidgen ¨ossische Technische Hochsohule Zurich (ETH).He is a professor in Beijing Institute of Technology.His research interest covers control theory and robustness control.E-mail: qinghew@bit.edu.cn;Zhuoyue Song was born in 1982. She received her B.S. degree in electrical engineering and automation from Hebei University of Science and Technology in 2004, M.S. degree in control science and engineering from Harbin University of Technology in 2007(with first class honours) and Ph.D. degree in electrical and electronic engineering from University of Manchester in 2011. She is currently a lecturer in the School of Automation at Beijing Institute of Technology, Beijing, China.Her research interests include analysis and synthesis of control systems,with particular attention to uncertainty, optimization and multi-agent systems.E-mail: szhuoyue@bit.edu.cn
