Feng Jian, Yin Bingkuan
School of Information Science and Engineering, Northeastern University, Shenyang 110819, China.
ISA Trans. 2021 May;111:96-107. doi: 10.1016/j.isatra.2020.10.067. Epub 2020 Nov 2.
It is difficult to control systems with multi-uncertainties directly based on traditional active disturbance rejection control (ADRC) framework, due to the mismatched condition, non integral-chain form. Besides, the traditional Hurwitz bounded stability of the extended state observer (ESO) may not guarantee acceptable observation accuracy. To this end, this paper presents an improved generalized proportional integral observer (IGPIO) to estimate the multi-uncertainties and the derivatives, and an IGPIO based control (IGPIOBC) strategy is proposed to eliminate the multi-uncertainties actively and accurately. The proof of bounded stability for the IGPIO and the closed loop system are derived by the singular perturbation approach and Lyapunov theory. Meanwhile, the corresponding relationship between the gain parameters and the bandwidth of the IGPIO is deduced. The simulations of the numerical example, RLC circuit and DC motor system verify the effectiveness of the proposed method.
基于传统的自抗扰控制（ADRC）框架直接控制系统中的多重不确定性是困难的，这是由于不匹配条件、非积分链式形式所致。此外，扩展状态观测器（ESO）的传统赫尔维茨有界稳定性可能无法保证可接受的观测精度。为此，本文提出一种改进的广义比例积分观测器（IGPIO）来估计多重不确定性及其导数，并提出一种基于IGPIO的控制（IGPIOBC）策略，以主动、准确地消除多重不确定性。通过奇异摄动法和李雅普诺夫理论推导了IGPIO和闭环系统的有界稳定性证明。同时，推导了IGPIO增益参数与带宽之间的对应关系。数值算例、RLC电路和直流电机系统的仿真验证了所提方法的有效性。
