Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems
In this paper, a composite control scheme is presented to asymptotically stabilize a class of port-controlled Hamiltonian systems under nonvanishing disturbances. First, based on the damping injection method and the nonlinear disturbance observer (NDOB) technique, the robust composite control strate...
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8456501/ |
| _version_ | 1818871798028042240 |
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| author | Baozeng Fu Qingzhi Wang Wei He |
| author_facet | Baozeng Fu Qingzhi Wang Wei He |
| author_sort | Baozeng Fu |
| collection | DOAJ |
| description | In this paper, a composite control scheme is presented to asymptotically stabilize a class of port-controlled Hamiltonian systems under nonvanishing disturbances. First, based on the damping injection method and the nonlinear disturbance observer (NDOB) technique, the robust composite control strategy is designed. The NDOB, as an effective observation tool, is developed to estimate the disturbances, and furthermore, the disturbances can be feedforward compensated using the estimates of disturbances. Then, for the augmented system, an asymptotic stability theorem is proposed via an input-to-state stability technique and Lyapunov stability theorems. The proposed control approach exhibits not only good robustness and disturbance rejection performances but also the property of nominal performance recovery. Finally, a simulation example on a circuit system is given to show the feasibility and advantage of the composite control method. |
| first_indexed | 2024-12-19T12:28:38Z |
| format | Article |
| id | doaj.art-9258a7d6c67648278476603190123aee |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T12:28:38Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-9258a7d6c67648278476603190123aee2022-12-21T20:21:29ZengIEEEIEEE Access2169-35362018-01-016502995030510.1109/ACCESS.2018.28689198456501Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed SystemsBaozeng Fu0https://orcid.org/0000-0001-5205-2978Qingzhi Wang1Wei He2School of Automation, Southeast University, Nanjing, ChinaInstitute of Complexity Science, College of Automation and Electrical Engineering, Qingdao University, Qingdao, ChinaSchool of Automation, Southeast University, Nanjing, ChinaIn this paper, a composite control scheme is presented to asymptotically stabilize a class of port-controlled Hamiltonian systems under nonvanishing disturbances. First, based on the damping injection method and the nonlinear disturbance observer (NDOB) technique, the robust composite control strategy is designed. The NDOB, as an effective observation tool, is developed to estimate the disturbances, and furthermore, the disturbances can be feedforward compensated using the estimates of disturbances. Then, for the augmented system, an asymptotic stability theorem is proposed via an input-to-state stability technique and Lyapunov stability theorems. The proposed control approach exhibits not only good robustness and disturbance rejection performances but also the property of nominal performance recovery. Finally, a simulation example on a circuit system is given to show the feasibility and advantage of the composite control method.https://ieeexplore.ieee.org/document/8456501/Asymptotic stabilityport-controlled Hamiltonian systemsdamping injectionnonvanishing disturbancesnonlinear disturbance observerinput-to-state stability |
| spellingShingle | Baozeng Fu Qingzhi Wang Wei He Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems IEEE Access Asymptotic stability port-controlled Hamiltonian systems damping injection nonvanishing disturbances nonlinear disturbance observer input-to-state stability |
| title | Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems |
| title_full | Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems |
| title_fullStr | Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems |
| title_full_unstemmed | Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems |
| title_short | Nonlinear Disturbance Observer-Based Control for a Class of Port-Controlled Hamiltonian Disturbed Systems |
| title_sort | nonlinear disturbance observer based control for a class of port controlled hamiltonian disturbed systems |
| topic | Asymptotic stability port-controlled Hamiltonian systems damping injection nonvanishing disturbances nonlinear disturbance observer input-to-state stability |
| url | https://ieeexplore.ieee.org/document/8456501/ |
| work_keys_str_mv | AT baozengfu nonlineardisturbanceobserverbasedcontrolforaclassofportcontrolledhamiltoniandisturbedsystems AT qingzhiwang nonlineardisturbanceobserverbasedcontrolforaclassofportcontrolledhamiltoniandisturbedsystems AT weihe nonlineardisturbanceobserverbasedcontrolforaclassofportcontrolledhamiltoniandisturbedsystems |