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Bao-zhu Guo - One of the best experts on this subject based on the ideXlab platform.
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Performance Output Tracking for Multidimensional Heat Equation Subject to Unmatched Disturbance and Noncollocated Control
IEEE Transactions on Automatic Control, 2020Co-Authors: Hua-cheng Zhou, Bao-zhu Guo, Shu-huang XiangAbstract:This paper investigates performance output tracking for a boundary controlled multidimensional heat equation. It is assumed that the so-called Total Disturbance (which is composed of internal possibly nonlinear uncertainty and external Disturbance) the equation is subject to is on one part of the boundary, and that the control is applied on the rest of the boundary. Using only partial boundary measurement, we first propose an extended state observer to estimate both system state and the Total Disturbance. This allows us to design a servomechanism and then an output feedback controller. Under the condition that both the reference signal and the Disturbance vanish or belong to spaces $H^1(0,\infty ;L^1(\Gamma _1))$ and $L^2(0,\infty ;L^2(\Gamma _0))$ , respectively. We show that the over-all control strategy achieves three objectives on the system performance: first, exponentially output tracking for arbitrary given reference signal; second, uniformly boundedness of all internal signals; and, third, the internal asymptotic stability of the closed-loop system. In addition, the control strategy turns out to be robust to the measurement noise. We provide numerical experiments to illustrate the effectiveness of the proposed control strategy.
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Approximate decoupling and output tracking for MIMO nonlinear systems with mismatched uncertainties via ADRC approach
Journal of the Franklin Institute, 2018Co-Authors: Bao-zhu GuoAbstract:Abstract In this paper, we consider output tracking for a class of MIMO nonlinear systems which are composed of coupled subsystems with vast mismatched uncertainties. First, all uncertainties influencing the performance of controlled outputs, which include internal unmodelled dynamics, external Disturbances, and uncertain nonlinear interactions between subsystems, are refined into the Total Disturbance in the control channels of subsystems. The Total Disturbance is shown to be sufficiently reflected in the measured output of each subsystem so that it can be estimated in real time by an extended state observer (ESO) in terms of the measured outputs. Second, we decouple approximately the MIMO systems by cancelling the Total Disturbance based on ESO estimation so that each subsystem becomes approximately independent linear time invariant one without uncertainty and interaction with other subsystems. Finally, we design an ESO based output feedback for each subsystem separately to ensure that the closed-loop state is bounded, and the closed-loop output of each subsystem tracks practically a given reference signal. This is completely in comply with the spirit of active Disturbance rejection control (ADRC). Some numerical simulations are presented to demonstrate the effectiveness of the proposed output feedback control scheme.
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Performance output tracking for one-dimensional wave equation subject to unmatched general Disturbance and non-collocated control
European Journal of Control, 2018Co-Authors: Hua-cheng Zhou, Bao-zhu GuoAbstract:Abstract In this paper, we consider performance output tracking for a boundary controlled one-dimensional wave equation with possibly unknown internal nonlinear uncertainty and external Disturbance. We first show that the open-loop system is well-posed and then propose a Disturbance estimator. It is shown that the Disturbance estimator can estimate successfully the Total Disturbance that consists of internal uncertainty and external Disturbance. An servomechanism based on the estimated Total Disturbance is then designed. It is shown that the closed-loop system is well-posed. Three control objectives are achieved: (a) the output is tracking the reference signal; (b) all the internal signals are uniformly bounded; (c) the closed-loop system is internally asymptotically stable if both the reference signal and the Disturbance vanish or belong to the space H 2 (0, ∞) and L 2 (0, ∞), respectively. The unmatched performance output tracking control is first time applied to a system described by the partial differential equation for complete general Disturbance rejection and reference tracking purpose. Another key feature of this paper is that we do not use the high-gain to estimate Total Disturbance for unmatched system. The numerical experiments are carried out to illustrate effectiveness of the proposed control law.
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unknown input observer design and output feedback stabilization for multi dimensional wave equation with boundary control matched uncertainty
Journal of Differential Equations, 2017Co-Authors: Hua-cheng Zhou, Bao-zhu GuoAbstract:Abstract In this paper, we consider boundary output feedback stabilization for a multi-dimensional wave equation with boundary control matched unknown nonlinear internal uncertainty and external Disturbance. A new unknown input type extended state observer is proposed to recover both state and Total Disturbance which consists of internal uncertainty and external Disturbance. A key feature of the proposed observer in this paper is that we do not use the high-gain to estimate the Disturbance. By the active Disturbance rejection control (ADRC) strategy, the Total Disturbance is compensated (canceled) in the feedback loop, which together with a collocated stabilizing controller without uncertainty, leads to an output feedback stabilizing feedback control. It is shown that the resulting closed-loop system is well-posed and asymptotically stable under weak assumption on internal uncertainty and external Disturbance. The numerical experiments are carried out to show the effectiveness of the proposed scheme.
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Output Feedback Stabilization for Multi-Dimensional Wave Equation with Boundary Control Matched Disturbance
IFAC-PapersOnLine, 2017Co-Authors: Hua-cheng Zhou, Bao-zhu Guo, Cui-zhen YaoAbstract:Abstract In this paper, we consider boundary output feedback stabilization for a multidimensional wave equation with boundary control matched unknown nonlinear internal uncertainty and external Disturbance. A new unknown input type extended state observer is proposed to recover both state and Total Disturbance which consists of internal uncertainty and external Disturbance by using the hidden regularity of the wave equation. By the active Disturbance rejection control (ADRC) strategy, the Total Disturbance is compensated (canceled) in the feedback loop, which together with a collocated stabilizing controller without uncertainty, leads to an output feedback stabilizing feedback control. It is shown that the resulting closed-loop system is well-posed and asymptotically stable under weak assumption on internal uncertainty and external Disturbance. The numerical experiments are carried out to show the effectiveness of the proposed scheme.
Hua-cheng Zhou - One of the best experts on this subject based on the ideXlab platform.
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Stabilization for Euler–Bernoulli Beam Equation with Boundary Moment Control and Disturbance via a New Disturbance Estimator
Journal of Dynamical and Control Systems, 2020Co-Authors: Hua-cheng Zhou, Hongyinping FengAbstract:We address the output feedback stabilization for a Euler–Bernoulli beam equation with boundary moment control and Disturbance. The stabilization of this system has been studied in Guo et al. (J Dyn Control Syst. 2014;20:539–58), where the controller is based on full state feedback. In order to derive the output feedback controller, we design a new Disturbance estimator to estimate the Total Disturbance in the sense that the estimation error signal belongs $L^{2}(0,\infty )$, and it decays exponentially if the initial state is smooth. Using the estimated Total Disturbance, we propose a control law to stabilize the system. Using admissibility theory, we show that the closed-loop system is exponentially stable and the signals in the Disturbance estimator in the closed-loop are proved to be bounded.
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Output Feedback Exponential Stabilization for a One-Dimensional Wave Equation with Control Matched Nonlinear Disturbance
IEEE Transactions on Automatic Control, 2020Co-Authors: Zhan-dong Mei, Hua-cheng ZhouAbstract:In this paper, we study the output feedback exponential stabilization of a one-dimensional wave equation with control matched nonlinear Disturbance. The well-posedness of the open-loop system which is essentially important for the designs of observer and controller, is verified. By designing an infinite-dimensional unknown input state observer in place of the conventional extended state observer, we estimate the Total Disturbance in real time. Moreover, we prove the convergence of the Disturbance estimator. Based on the Disturbance estimator, we design a state observer by compensating the Total Disturbance, and an estimated state feedback controller to exponentially stabilize the original system by means of the Riesz basis approach. Some numerical simulations are presented.
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Performance Output Tracking for Multidimensional Heat Equation Subject to Unmatched Disturbance and Noncollocated Control
IEEE Transactions on Automatic Control, 2020Co-Authors: Hua-cheng Zhou, Bao-zhu Guo, Shu-huang XiangAbstract:This paper investigates performance output tracking for a boundary controlled multidimensional heat equation. It is assumed that the so-called Total Disturbance (which is composed of internal possibly nonlinear uncertainty and external Disturbance) the equation is subject to is on one part of the boundary, and that the control is applied on the rest of the boundary. Using only partial boundary measurement, we first propose an extended state observer to estimate both system state and the Total Disturbance. This allows us to design a servomechanism and then an output feedback controller. Under the condition that both the reference signal and the Disturbance vanish or belong to spaces $H^1(0,\infty ;L^1(\Gamma _1))$ and $L^2(0,\infty ;L^2(\Gamma _0))$ , respectively. We show that the over-all control strategy achieves three objectives on the system performance: first, exponentially output tracking for arbitrary given reference signal; second, uniformly boundedness of all internal signals; and, third, the internal asymptotic stability of the closed-loop system. In addition, the control strategy turns out to be robust to the measurement noise. We provide numerical experiments to illustrate the effectiveness of the proposed control strategy.
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Performance output tracking for one-dimensional wave equation subject to unmatched general Disturbance and non-collocated control
European Journal of Control, 2018Co-Authors: Hua-cheng Zhou, Bao-zhu GuoAbstract:Abstract In this paper, we consider performance output tracking for a boundary controlled one-dimensional wave equation with possibly unknown internal nonlinear uncertainty and external Disturbance. We first show that the open-loop system is well-posed and then propose a Disturbance estimator. It is shown that the Disturbance estimator can estimate successfully the Total Disturbance that consists of internal uncertainty and external Disturbance. An servomechanism based on the estimated Total Disturbance is then designed. It is shown that the closed-loop system is well-posed. Three control objectives are achieved: (a) the output is tracking the reference signal; (b) all the internal signals are uniformly bounded; (c) the closed-loop system is internally asymptotically stable if both the reference signal and the Disturbance vanish or belong to the space H 2 (0, ∞) and L 2 (0, ∞), respectively. The unmatched performance output tracking control is first time applied to a system described by the partial differential equation for complete general Disturbance rejection and reference tracking purpose. Another key feature of this paper is that we do not use the high-gain to estimate Total Disturbance for unmatched system. The numerical experiments are carried out to illustrate effectiveness of the proposed control law.
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unknown input observer design and output feedback stabilization for multi dimensional wave equation with boundary control matched uncertainty
Journal of Differential Equations, 2017Co-Authors: Hua-cheng Zhou, Bao-zhu GuoAbstract:Abstract In this paper, we consider boundary output feedback stabilization for a multi-dimensional wave equation with boundary control matched unknown nonlinear internal uncertainty and external Disturbance. A new unknown input type extended state observer is proposed to recover both state and Total Disturbance which consists of internal uncertainty and external Disturbance. A key feature of the proposed observer in this paper is that we do not use the high-gain to estimate the Disturbance. By the active Disturbance rejection control (ADRC) strategy, the Total Disturbance is compensated (canceled) in the feedback loop, which together with a collocated stabilizing controller without uncertainty, leads to an output feedback stabilizing feedback control. It is shown that the resulting closed-loop system is well-posed and asymptotically stable under weak assumption on internal uncertainty and external Disturbance. The numerical experiments are carried out to show the effectiveness of the proposed scheme.
Yi Huang - One of the best experts on this subject based on the ideXlab platform.
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on observability analysis for a class of uncertain systems with coupling dynamics of rigid body and elastic vibration
Chinese Control Conference, 2020Co-Authors: Xiaoyan Zhang, Yi Huang, Wenyan Bai, Hao Pan, Sheng Zhong, Wenchao XueAbstract:This paper focuses on the observability analysis for a typical class of rigid-flexible coupling systems constituted of rigid-body mode (RBM) and the 1st elastic mode (EM). The measurements are the combination of RBM and EM states and the systems have uncertain dynamics and Disturbances. The observability of both the original states and the "Total Disturbance" is systematically discussed. Firstly, the sufficient conditions of the observability for the systems with and without uncertainties are presented. Furthermore, the observable combinations of the states and Disturbances are discussed under general conditions. Also, the extended state observer (ESO) design is presented. In addition, the theoretical results are demonstrated via the simulation on a rigid-flexible coupling flight vehicle.
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Performance analysis of 2‐DOF tracking control for a class of nonlinear uncertain systems with discontinuous Disturbances
International Journal of Robust and Nonlinear Control, 2017Co-Authors: Wenchao Xue, Yi HuangAbstract:Summary In this paper, the tracking control problem is considered for a class of uncertain nonlinear systems with infinite discontinuous points in the external Disturbance. The extended state observer–based 2-degree-of-freedom control is used with one degree to estimate and cancel the “Total Disturbance” and the other to force the closed-loop system to have desired characteristics. The tracking error between the state vector and its ideal trajectory in the entire transient process is adequately discussed to illuminate the performance of resulting control systems. The quantitative analysis shows that the tracking error can be small enough by tuning the bandwidth of the extended state observer. Moreover, the necessary and sufficient condition for the tracking error and the estimation error of the “Total Disturbance” to converge to zero is presented. The simulation results of a motion test demonstrate that the desired performance of the control system can be achieved despite discontinuous Disturbance and nonlinear uncertainties.
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Add-On Module of Active Disturbance Rejection for Set-Point Tracking of Motion Control Systems
IEEE Transactions on Industry Applications, 2017Co-Authors: Wenchao Xue, Zhiqiang Gao, Krzysztof Lakomy, Rafal Madonski, Yi HuangAbstract:Active Disturbance rejection control (ADRC) as a standalone motion solution has been made available in recent years on various industrial platforms. The idea of ADRC, however, can be integrated with the existing control technologies seamlessly, as shown in this paper. A modularized ADRC design is proposed in this particular work for set-point tracking task in motion control, such that better uncertainty rejection can be obtained without any change in the existing proportional-derivative control with a linear observer. It is proven that a certain extended state of the observer, i.e., the integration of the observer error, can serve as an estimation for the “Total Disturbance” in low-frequency range by only tuning the augmented gain. This enables the estimation and cancellation of the “Total Disturbance” to be incorporated into the existing control loop. Also, a comparison between the methods with and without such “module” is discussed. The proposed ADRC is implemented and validated experimentally using a laboratory manipulator, where the desired set-point tracking performance in position control is achieved under unknown mass variations and sudden external Disturbances.
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On extended state predictor observer based active Disturbance rejection control for uncertain systems with sensor delay
2016 16th International Conference on Control Automation and Systems (ICCAS), 2016Co-Authors: Wenchao Xue, Ping Liu, Sen Chen, Yi HuangAbstract:This paper considers the control problem for a class of sensor delay systems with nonlinear unknown dynamics and external Disturbances. The extended state predictor observer (ESPO) based active Disturbance rejection control (ADRC) is first proposed to timely estimate and compensate for the "Total Disturbance" under sensor delay. The timedomain stability of the closed-loop system is rigorously studied by discussing the bound of tracking error between state and its desired trajectory. More importantly, it is proven that the proposed method can greatly improve the existing PO based control in dealing with the "Total Disturbance" in the low frequency range. Also, the simulation results show the effectiveness of the ESPO based ADRC for tackling several kinds of uncertainties.
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IAS Annual Meeting - Add-on module of Active Disturbance Rejection for set-point tracking of motion control systems
2016 IEEE Industry Applications Society Annual Meeting, 2016Co-Authors: Wenchao Xue, Zhiqiang Gao, Yi Huang, Rafal Madonski, Krzysztof LakomyAbstract:Active Disturbance Rejection Control (ADRC) as a standalone motion solution has been adopted by companies such as Texas Instruments and Danfoss and made available on various proprietary industrial platforms. The idea of ADRC, however, can be integrated with the existing control technologies seamlessly, as shown in this paper. It is shown a modularized ADRC design for set-point tracking of motion control such that better uncertainty rejection can be implemented without any change in the existing proportional-derivative (PD) control with linear observer. We prove that certain integration of the observer's error can serve as an estimation for the “Total Disturbance” in low frequency range. This enables the estimation and cancellation of the “Total Disturbance” to be incorporated into the existing control loop. Also, a comparison between the methods with and without such “module” is discussed. The proposed ADRC is implemented and validated with experimental results for a 1-degree of freedom robotic manipulator, where desired set-point tracking performance in position control is achieved under unknown mass variations and sudden external Disturbances.
Xuesong Zhou - One of the best experts on this subject based on the ideXlab platform.
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DC Bus Voltage Control of Grid-Side Converter in Permanent Magnet Synchronous Generator Based on Improved Second-Order Linear Active Disturbance Rejection Control
Energies, 2020Co-Authors: Xuesong Zhou, Yongliang Zhou, Luyong Yang, Xia Yang, Bo ZhangAbstract:In the permanent magnet synchronous generator (PMSG), the DC bus voltage fluctuates up and down under the influence of the load and power grid, which greatly affects the safe and reliable work of PMSG. In order to suppress the wide range fluctuation of DC bus voltage under Disturbance and enhance its anti-Disturbance performance, an optimized DC bus voltage control strategy is proposed by using the improved linear active Disturbance rejection control (LADRC) in the voltage outer loop. By considering factors, such as load Disturbance and grid voltage mutation as the Total Disturbance of the system, the improved reduced-order linear expansion state observer (RLSEO) is used to estimate and compensate the Total Disturbance, which greatly improves the stability of DC bus voltage. Firstly, the mathematical model of grid-side converter is established. On this basis, the LADRC control based on RLESO is designed, which reduces the phase lag of the linear extended state observer (LESO) and enhances the Disturbance observation accuracy of the system. Then, a lead lag correction link is added to the Total Disturbance channel of RLESO to reduce the noise amplification effect of RLESO. Finally, the frequency domain characteristic analysis and stability proof of the improved LADRC control strategy are carried out. The simulation results show that the control strategy proposed in the article has a better control effect on the DC bus voltage.
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Bus Voltage Control of DC Distribution Network Based on Sliding Mode Active Disturbance Rejection Control Strategy
Energies, 2020Co-Authors: Xuesong ZhouAbstract:The DC distribution network has more advantages in power transmission, grid connection of distributed energy, and reliability of power supply when compared with AC distribution network, but there are still many problems in the development of DC distribution network. DC bus voltage control is one of the hot issues in the research of DC distribution network. To solve this problem, in this paper, a new type of sliding mode active Disturbance rejection control (SMADRC) controller for AC/DC converters is designed and applied to the voltage outer loop. The linear extended state observer (LESO) can observe the state variables and the Total Disturbance of the system. The SMADRC is composed of a sliding mode controller, LESO, and Disturbance compensator, which can compensate the Total Disturbance observed by LESO properly. Therefore, it improves the dynamic. At the same time, it can also reduce the system jitter that is caused by sliding mode controller. The state variables that are observed by the LESO are used in the design of sliding mode controller, which greatly simplifies the design of sliding mode controller. Finally, the simulation results of Matlab/Simulink show that the controller has good start-up performance and strong robustness.
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Linear Active Disturbance Rejection Control for DC Bus Voltage of Permanent Magnet Synchronous Generator Based on Total Disturbance Differential
Energies, 2019Co-Authors: Xuesong Zhou, Mao Liu, Bao Yang, Faqing ZhaoAbstract:The wind power grid-connected inverter system has nonlinear, strong coupling, and is susceptible to grid voltage fluctuations and nonlinear load effects. To achieve satisfactory control results, the voltage outer loop is controlled by an improved linear active Disturbance rejection control (LADRC). LADRC has strong adaptability, robustness and operability. It can automatically detect and compensate for internal and external Disturbances, and correct complex controlled objects to integrator series. The Total perturbation differential signal is introduced in the traditional linear extended state observer (LESO), which improves the dynamic perturbation observation ability of LESO. The frequency response characteristics analysis shows that the new LADRC has better anti-interference performance. The effectiveness of the improved controller under multiple operating conditions is verified by simulation.
Zhan-dong Mei - One of the best experts on this subject based on the ideXlab platform.
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Exponential Stabilization for Vibration Cable with a Tip Mass under Boundary Control and Non-Collocated Observation.
arXiv: Optimization and Control, 2020Co-Authors: Zhan-dong MeiAbstract:We study the output feedback exponential stabilization for a vibration cable with tip mass. With only one measurement, we construct an infinite-dimensional state observer to trace the state and design an estimated state based controller to exponentially stabilize the original system. This is an essentially important improvement for the existence reference [O. Morgul, B.P. Rao and F. Conrad, IEEE Transactions on Automatic Control, 39(10) (1994), 2140-2145] where two measurements including the high order angular velocity feedback were adopted. When a control matched nonlinear internal uncertainty and external Disturbance are taken into consideration, we construct an infinite-dimensional extended state observer (ESO) to estimate the Total Disturbance and state simultaneously. By compensating the Total Disturbance, an estimated state based controller is designed to exponentially stabilize the original system while making the closed-loop system bounded. Riesz basis approach is crucial to the verifications of the exponential stabilities of two coupled systems of the closed-loop system. Some numerical simulations are presented to illustrate the effectiveness.
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Dynamic Feedback Exponential Stabilization for a Flexible Beam with Tip Mass and Non-Collocated Observation
arXiv: Optimization and Control, 2020Co-Authors: Zhan-dong MeiAbstract:This paper is concerned with the output feedback exponential stabilization for a flexible beam with tip mass. When there is no Disturbance, it is shown that only one non-collocated measurement is enough to exponentially stabilize the original system by constructing an infinite-dimensional Luenberger state observer to track the state and designing an estimated state based output feedback control law. This essentially improves the existence result in [F. Conrad and O. Morgul, SIAM J. Control Optim., 36 (1998), 1962-1986] where two collocated measurements including high order feedback were adopted. In the case that boundary internal uncertainty and external Disturbance are considered, an infinite-dimensional Disturbance estimator is constructed to estimate the state and Total Disturbance in real time. By virtue of the estimated state and estimated Total Disturbance, an output feedback control law is designed to exponentially stabilize the original system while guaranteeing the boundedness of the closed-loop system.
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Output Feedback Exponential Stabilization for a One-Dimensional Wave Equation with Control Matched Nonlinear Disturbance
IEEE Transactions on Automatic Control, 2020Co-Authors: Zhan-dong Mei, Hua-cheng ZhouAbstract:In this paper, we study the output feedback exponential stabilization of a one-dimensional wave equation with control matched nonlinear Disturbance. The well-posedness of the open-loop system which is essentially important for the designs of observer and controller, is verified. By designing an infinite-dimensional unknown input state observer in place of the conventional extended state observer, we estimate the Total Disturbance in real time. Moreover, we prove the convergence of the Disturbance estimator. Based on the Disturbance estimator, we design a state observer by compensating the Total Disturbance, and an estimated state feedback controller to exponentially stabilize the original system by means of the Riesz basis approach. Some numerical simulations are presented.
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Disturbance estimator and servomechanism based performance output tracking for a 1-d Euler–Bernoulli beam equation
Automatica, 2020Co-Authors: Zhan-dong MeiAbstract:In this paper, we consider performance output tracking for a one dimensional Euler–Bernoulli beam equation with boundary moment control and unmatched internal uncertainty and external Disturbance. For such system, the reference Feng and Guo (2017) firstly studied the active Disturbance rejection control (ADRC) problem. We design an infinite-dimensional Disturbance estimator to estimate the Total Disturbance (internal uncertainty and external Disturbance) and the system state simultaneously. A servomechanism generated by the reference signal is designed based on the estimated Total Disturbance. We design an output feedback control law such that the performance output signal tracks the reference signal and all the signals of closed-loop system are bounded. Some illustrative simulations are presented.