Adaptive Static Output Feedback Anti-disturbance Quantized Control for Nonlinear Systems with Multi-source Disturbances
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Adaptive Static Output Feedback Anti-disturbance Quantized Control for Nonlinear Systems with Multi-source Disturbances Yitong Zhou and Haibin Sun* Abstract: In this paper, the problem of adaptive static output feedback anti-disturbance quantized control is proposed for nonlinear systems with multi-source disturbances and unknown parameters. Using the output information, the disturbance observer and the adaptive law are constructed. An adaptive static output feedback anti-disturbance quantized controller is designed by combining with the estimated values of the disturbance and unknown parameters, in which a compensation term is introduced to eliminate the influence of quantization error. The stability and H∞ performance are analyzed by using Lyapunov function method. Finally, a simulation example is given to verify the validity of the results. Keywords: Adaptive control, disturbance observer, H∞ control, input quantization, static output feedback control.
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INTRODUCTION
In many practical systems, for example, magnetic levitation system, disk drive system, motion servo system etc., disturbances widely exist, which severely impact the closed-loop system performance [1–11]. With the rapid development of modern industry, the anti-disturbance control has become an eternal subject in the field of control engineering, and many kinds of methods are proposed, such as H∞ control [12], adaptive control [6, 13], sliding mode control [14, 15], disturbance observer based control [1–3, 7, 16]. Most of the above-mentioned schemes were employed for systems with a single disturbance. However, in practical engineering, complex systems were often modelled as mathematical models with multi-source disturbances [17]. For example, in the spacecraft systems, disturbances can be split into three types, including internal disturbance force torque, equivalent disturbance caused by modeling error, and external space environmental disturbance force torque. From the viewpoint of control theory, these disturbances and noises can be characterized as an uncertain norm-bounded variable, a harmonic, step signal, non-Gaussian/ Gaussian random variable, a bounded change rate variable, output variables of a neutral stable system, and other types of disturbances. Under the action of multi-source disturbances, the traditional control methods have been unable to meet the high precision control requirements [4]. Some composite hierarchi-
cal anti-disturbance control methods for a class of nonlinear systems with multi-source disturbances are proposed in [18–21], where the disturbance observer is employed to deal with the disturbances described as external systems with uncertainties, and the traditional control schemes are used to attenuate other types of the disturbances. On the other hand, among various control strategies, the static output feedback (SOF) control is especially useful and more capable because of its simplicity of implementation when the states are not fully measurable for con
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