Robust nonlinear control of a three-tank system using finite-time disturbance observers

Yang, Zi‐Jiang; Sugiura, Hiroyuki

doi:10.1016/j.conengprac.2018.11.013

Cited by 20 publications

(9 citation statements)

References 25 publications

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“…where l(x) is a weighted matrix and N(δ) = k i 2 δ 2 . Consider a system (25) with a penalty signal (27). For any given γ > 0, the goal of L 2 attenuating perturbation interference is achieved through the following feedback control law.…”

Section: -Gain Disturbance Attenuation Law Injectionmentioning

confidence: 99%

“…This means that N(δ) serves as the storage function for the closed loop system. In view of system (25) and penalty signal (27), for any given positive γ, the L 2 disturbance attenuation goal will be realized by the state error feedback…”

Section: -Gain Disturbance Attenuation Law Injectionmentioning

confidence: 99%

“…A finite time disturbance observer was proposed for three-tank liquid-level systems with mismatched uncertainties. The nonlinear uncertainty was compensated by the finite time disturbance observer [27]. In order to realize the controller in a sensorless control framework, an adaptive interconnected high-gain observer [28] was designed to measure the liquid level of the tank at the bottom and estimate the two constant parameters for the tank-liquid-level system.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Disturbance Observer and L2-Gain-Based State Error Feedback Linearization Control for the Quadruple-Tank Liquid-Level System

Meng

et al. 2020

Energies

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This paper proposes a fresh state error feedback linearization control method with disturbance observer (DOB) and L2 gain for a quadruple-tank liquid-level system. Firstly, in terms of the highly nonlinear and strong coupling characteristics of the quadruple-tank system, a state error feedback linearization technique is employed to design the controller to achieve liquid-level position control and tracking control. Secondly, DOB is purposed to estimate uncertain exogenous disturbances and applied to compensation control. Moreover, an L2-gain disturbance attenuation technology is designed to resolve one class of disturbance problem by uncertain parameter perturbation existing in the quadruple-tank liquid-level system. Finally, compared with the classical proportion integration differentiation (PID) and sliding mode control (SMC) methods, the extensive experimental results validate that the proposed strategy has good position control, tracking control, and disturbance rejection performances.

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Section: -Gain Disturbance Attenuation Law Injectionmentioning

confidence: 99%

Section: -Gain Disturbance Attenuation Law Injectionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Disturbance Observer and L2-Gain-Based State Error Feedback Linearization Control for the Quadruple-Tank Liquid-Level System

Meng

et al. 2020

Energies

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“…It is undeniable that observer compensation is an effective technique, but a well‐designed observer remains difficult. There are some advanced disturbance observers such as adaptive disturbance observer [25], finite‐time disturbance observer [26] and sliding mode observer [27]. The above‐mentioned disturbance observers have good performance, but they bring certain difficulties for practical application due to the complex parameters and difficulties in implementation.…”

Section: Introductionmentioning

confidence: 99%

Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC

Wang

Zuo

Wang

et al. 2021

IET Control Theory & Appl

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This paper proposes a control strategy integrating the non-linear extended state observer (NLESO) and the non-singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in terms of Lie derivative is presented to simplify the controller design. A specific NLESO combining linear term and non-linear term is designed to estimate the disturbances with a faster convergence performance. A scheme for determining the gain range of NLESO is explicitly given to facilitate the tuning of experimental parameters. Meanwhile, the NTSMC achieves finite time convergence of the tracking error system and the chattering phenomenon in NTSMC is dramatically alleviated with the compensation from NLESO. The experimental results validate the strong robustness and good performance of the proposed control strategy.

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“…Moreover, the multivariable disturbance observer was proposed to improve the antidisturbance performance of traditional advanced feedback control [26]. In [27], a robust control method based on the finite time disturbance observer was proposed to track the output of the three-tank system in the presence of mismatched uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Based Integral Backstepping Control for a Two-Tank Liquid Level System Subject to External Disturbances

Meng

et al. 2020

Mathematical Problems in Engineering

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A novel method of disturbance observer-based integral backstepping control is proposed for the two-tank liquid level system with external disturbances. The problem of external disturbances can be settled in this paper. Firstly, the mathematical model of the two-tank liquid level system is established based on fluid mechanics and principle of mass conservation. Secondly, an integral backstepping control strategy is designed in order to ensure liquid level tracking performance by making the tracking errors converge to zero in finite time. Thirdly, a disturbance observer is designed for the two-tank liquid level system with external disturbances. Finally, the validity of the proposed method is verified by simulation and experiment. By doing so, the simulation and experimental results prove that the scheme of disturbance observer-based integral backstepping control strategy can suppress external disturbances more effective than the disturbance observer-based sliding mode control method and has better dynamic and steady performance of the two-tank liquid level system.

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Robust nonlinear control of a three-tank system using finite-time disturbance observers

Cited by 20 publications

References 25 publications

Disturbance Observer and L2-Gain-Based State Error Feedback Linearization Control for the Quadruple-Tank Liquid-Level System

Disturbance Observer and L2-Gain-Based State Error Feedback Linearization Control for the Quadruple-Tank Liquid-Level System

Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC

Disturbance Observer-Based Integral Backstepping Control for a Two-Tank Liquid Level System Subject to External Disturbances

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