Regular Papers

International Journal of Control, Automation and Systems 2015; 13(3): 595-602

Published online March 28, 2015

https://doi.org/10.1007/s12555-014-0173-6

© The International Journal of Control, Automation, and Systems

Design of a Class of New Nonlinear Disturbance Observers based on Tracking Differentiators for Uncertain Dynamic Systems

Xiang-Wei Bu*, Xiao-Yan Wu, Yong-Xing Chen, and Rui-Yang Bai

Air Force Engineering University

Abstract

The main contribution of this paper is to present a general design method of new nonlinear disturbance observer (NDO) based on tracking differentiator (TD) for uncertain dynamic system. The stability and convergence of the proposed NDO can be guaranteed by TD. This new NDO can be used to estimate many types of uncertain disturbances, and can overcome the disadvantages of existing NDOs that need the priori information concerning the upper and lower bounds of the disturbance and its ith derivative’s Lipschitz upper bound. It can be also applied in uncertain dynamic system for various purposes such as disturbance estimate and compensation, solving the problem of control input constraint, and reducing even eliminating chattering of control input. Simulation results are presented to show the effectiveness of the developed NDO.

Keywords Chattering, control input constraint, disturbance estimate, nonlinear disturbance observer, tracking differentiator, uncertain disturbances, uncertain dynamic system.

Article

Regular Papers

International Journal of Control, Automation and Systems 2015; 13(3): 595-602

Published online June 1, 2015 https://doi.org/10.1007/s12555-014-0173-6

Copyright © The International Journal of Control, Automation, and Systems.

Design of a Class of New Nonlinear Disturbance Observers based on Tracking Differentiators for Uncertain Dynamic Systems

Xiang-Wei Bu*, Xiao-Yan Wu, Yong-Xing Chen, and Rui-Yang Bai

Air Force Engineering University

Abstract

The main contribution of this paper is to present a general design method of new nonlinear disturbance observer (NDO) based on tracking differentiator (TD) for uncertain dynamic system. The stability and convergence of the proposed NDO can be guaranteed by TD. This new NDO can be used to estimate many types of uncertain disturbances, and can overcome the disadvantages of existing NDOs that need the priori information concerning the upper and lower bounds of the disturbance and its ith derivative’s Lipschitz upper bound. It can be also applied in uncertain dynamic system for various purposes such as disturbance estimate and compensation, solving the problem of control input constraint, and reducing even eliminating chattering of control input. Simulation results are presented to show the effectiveness of the developed NDO.

Keywords: Chattering, control input constraint, disturbance estimate, nonlinear disturbance observer, tracking differentiator, uncertain disturbances, uncertain dynamic system.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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