Disturbance Observers: Methods and Applications. II. Applications
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NLINEAR SYSTEMS
Disturbance Observers: Methods and Applications. II. Applications B. R. Andrievsky∗,∗∗,∗∗∗,a and I. B. Furtat∗,∗∗∗∗,b ∗
Institute for Problems in Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia ∗∗ St. Petersburg State University, St. Petersburg, Russia ∗∗∗ Baltic State Technical University, St. Petersburg, Russia ∗∗∗∗ ITMO University, St. Petersburg, Russia e-mail: a [email protected], b [email protected] Received October 22, 2019 Revised March 16, 2020 Accepted May 25, 2020
Abstract—This work is the second part of a survey devoted to disturbance observers that appeared in the theory and practice of automatic control back in the mid-1960s. The first part of the survey was devoted to theoretical results. This part of the survey is devoted to practical application of disturbance observers. We consider such applications as control of ships and underwater vehicles, control of aircraft and robotic manipulators, suppression of narrow-band vibrational oscillations, estimation and suppression of disturbances in electrical systems, control of cars and their component units, and a number of other applications. Keywords: disturbances, estimation, observer DOI: 10.1134/S0005117920100021
1. INTRODUCTION The history of the emergence of disturbance observers in control theory and practice dates back to the mid-1960s. It was associated with the expansion of algebraic methods for the synthesis of controllers, emergence of computer-oriented synthesis procedures, further expansion and complication of the range of problems that had to be solved and the need to optimize the control process. The first part of the survey, see [1], focused on general theoretical approaches and results. In it, we presented methods for estimating disturbances using state observers, auxiliary filters in the form of transfer functions based on the dynamic inversion of the plant model, observers of input and output disturbances, described the internal model principle and presented results for observers of harmonic disturbances. This part of the survey is devoted to practical applications of the presented results. In our choice of the articles for the survey we took into account their citation counts (in the Scopus system) and the availability of hardware implementation. We understand that we have not been able to focus on all publications in this survey and apologize in advance to colleagues whose works have not been included. As noted in [2], the control method based on estimating disturbances, unlike many other modern approaches, has been widely used in commercially available devices. Interest in this method both in academic and industrial circles has been due to its simplicity as an alternative to classical PID controllers. An overview of recent experimental research and industrial development on active disturbance suppression based on the estimation of external and internal influences has been presented in [3]; 1775
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this work provides examples of successful applications in motio
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