Gain-scheduled predictive extended state observer for time-varying delays systems with mismatched disturbances

Abstract

Please cite this article in press as: Gonzalez A., et al. Gain-scheduled predictive extended state observer for time-varying delays systems with mismatched disturbances.

Event-triggered predictor-based control with gain-Scheduling and extended state observer for networked control systems

“…It is worth mentioning that the existing error between the exact and the approximated predictions in a disturbed system cannot be removed, even in case of time-constant disturbances using integral action [34]. To overcome this limitation, predictor-feedback approaches were recently combined with Extended State Observer (ESO) to actively reject external disturbances in the presence of time-constant delays [25,17], and further extended to timevarying delays [14]. These last works considered disturbances that affect the state through channels in which the input has no direct influence (mismatched disturbances), which are generally more difficult to handle for disturbance rejection purposes [3].…”

“…• (ii) The negative effect of mismatched disturbances, along with timevarying delays, packet dropouts and packet disorder in the sensor-tocontroller link are counteracted by a properly designed gain-scheduled ESO [14].…”

“…Thus, the measurement data packets will be transmitted from the local sensor to the remote controller if the condition (19) is satisfied. We emphasize that the control and observer gains K w , K and L defined in (10), (11) and (14) respectively, together with the event-triggered parameters Ω u , σ u , Ω y , σ y defined in (9) and (19), are designed not only to stabilize the closed-loop control system, but also to reduce the bandwidth usage as far as possible, while satisfying different performance criterions: maximum disturbance attenuation in the sense of H ∞ norm, steady-state rejection of mismatched disturbances with known dynamics, and robustness against timevarying delays. Remark 1.…”

“…Therefore, in the absence of time delays, the expressions (10), (14) and 20, (21) are equivalent. The above control scheme without delay compensation will be used to illustrate the benefits of using predictor-approaches in Section 6 (Example 2) and experimental results in Section 7.…”

Predictive Speed-Control Algorithm Based on a Novel Extended-State Observer for PMSM Drives

“…To achieve an accurate control of the motor, the disturbances should be accurately estimated and compensated. There are many observers for disturbances estimation, such as unknown input observer [16], disturbance observer [17,18], extended-state observer [19][20][21]. The applications of the observer for PMSM drive systems are presented in [18,19].…”