Generalized-Extended-State-Observer-Based Repetitive Control for MIMO Systems With Mismatched Disturbances | Zendy

Lan Zhou | Zendy; Jinhua She | Zendy

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Generalized-Extended-State-Observer-Based Repetitive Control for MIMO Systems With Mismatched Disturbances

Author(s) -

Lan Zhou,

Jinhua She

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2876398

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper concerns the problem of designing a modified repetitive-control system based on a generalized extended state observer (GESO) for a class of multi-input, multi-output systems in the form of a nonintegral chain and with mismatched disturbances. A GESO is constructed to estimate a lumped disturbance in a real-time fashion. Then, an improved repetitive control law is developed to attenuate the influence of the lumped disturbance from the output channel. A correction to the amount of the delay of the repetitive controller is introduced to further reduce the steady-state tracking error. A stability criterion and a design algorithm are presented. Finally, simulations and comparisons with other methods demonstrate the validity of this method.

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