Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances

Dongdong Zheng; Weixing Li; Xuemei Ren

doi:10.1109/DDCLS55054.2022.9858508

Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances

Dongdong Zheng, Weixing Li, Xuemei Ren^*

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In order to solve the control problem of singularly perturbed systems subject to external disturbances, a novel composite control scheme based on the disturbance observer and the singular perturbation technique is proposed. To reduce the system order and facilitate the controller design, the singular perturbation technique is first utilized to de-compose the original high-order system into two lower order subsystems. Subsequently, nonlinear disturbance observers are proposed for reduced order slow subsystem and the reduced order fast subsystem respectively. Using the estimated disturbance information, two composite controllers are developed for the reduced-order subsystems, and the uniformly ultimately boundedness of subsystems is guaranteed. Moreover, the stability of the closed-loop high-order system is also proved via the Lyapunov approach, even though the observers and controllers are developed for the reduced-order subsystems. The effectiveness of the proposed control scheme is demonstrated by simulations.

Original language	English
Title of host publication	Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022
Editors	Mingxuan Sun, Zengqiang Chen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	461-466
Number of pages	6
ISBN (Electronic)	9781665496759
DOIs	https://doi.org/10.1109/DDCLS55054.2022.9858508
Publication status	Published - 2022
Event	11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022 - Emeishan, China Duration: 3 Aug 2022 → 5 Aug 2022

Publication series

Name	Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022

Conference

Conference	11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022
Country/Territory	China
City	Emeishan
Period	3/08/22 → 5/08/22

Keywords

composite control
nonlinear disturbance observer
singular perturbation
singularly perturbed system

Access to Document

10.1109/DDCLS55054.2022.9858508

Cite this

Zheng, D., Li, W., & Ren, X. (2022). Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances. In M. Sun, & Z. Chen (Eds.), Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022 (pp. 461-466). (Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DDCLS55054.2022.9858508

Zheng, Dongdong ; Li, Weixing ; Ren, Xuemei. / Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances. Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022. editor / Mingxuan Sun ; Zengqiang Chen. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 461-466 (Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022).

@inproceedings{9ee39758806b41c098f384a6c8269e1c,

title = "Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances",

abstract = "In order to solve the control problem of singularly perturbed systems subject to external disturbances, a novel composite control scheme based on the disturbance observer and the singular perturbation technique is proposed. To reduce the system order and facilitate the controller design, the singular perturbation technique is first utilized to de-compose the original high-order system into two lower order subsystems. Subsequently, nonlinear disturbance observers are proposed for reduced order slow subsystem and the reduced order fast subsystem respectively. Using the estimated disturbance information, two composite controllers are developed for the reduced-order subsystems, and the uniformly ultimately boundedness of subsystems is guaranteed. Moreover, the stability of the closed-loop high-order system is also proved via the Lyapunov approach, even though the observers and controllers are developed for the reduced-order subsystems. The effectiveness of the proposed control scheme is demonstrated by simulations.",

keywords = "composite control, nonlinear disturbance observer, singular perturbation, singularly perturbed system",

author = "Dongdong Zheng and Weixing Li and Xuemei Ren",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022 ; Conference date: 03-08-2022 Through 05-08-2022",

year = "2022",

doi = "10.1109/DDCLS55054.2022.9858508",

language = "English",

series = "Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "461--466",

editor = "Mingxuan Sun and Zengqiang Chen",

booktitle = "Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022",

address = "United States",

}

Zheng, D, Li, W & Ren, X 2022, Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances. in M Sun & Z Chen (eds), Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022. Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022, Institute of Electrical and Electronics Engineers Inc., pp. 461-466, 11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022, Emeishan, China, 3/08/22. https://doi.org/10.1109/DDCLS55054.2022.9858508

Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances. / Zheng, Dongdong; Li, Weixing; Ren, Xuemei.
Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022. ed. / Mingxuan Sun; Zengqiang Chen. Institute of Electrical and Electronics Engineers Inc., 2022. p. 461-466 (Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances

AU - Zheng, Dongdong

AU - Li, Weixing

AU - Ren, Xuemei

PY - 2022

Y1 - 2022

N2 - In order to solve the control problem of singularly perturbed systems subject to external disturbances, a novel composite control scheme based on the disturbance observer and the singular perturbation technique is proposed. To reduce the system order and facilitate the controller design, the singular perturbation technique is first utilized to de-compose the original high-order system into two lower order subsystems. Subsequently, nonlinear disturbance observers are proposed for reduced order slow subsystem and the reduced order fast subsystem respectively. Using the estimated disturbance information, two composite controllers are developed for the reduced-order subsystems, and the uniformly ultimately boundedness of subsystems is guaranteed. Moreover, the stability of the closed-loop high-order system is also proved via the Lyapunov approach, even though the observers and controllers are developed for the reduced-order subsystems. The effectiveness of the proposed control scheme is demonstrated by simulations.

AB - In order to solve the control problem of singularly perturbed systems subject to external disturbances, a novel composite control scheme based on the disturbance observer and the singular perturbation technique is proposed. To reduce the system order and facilitate the controller design, the singular perturbation technique is first utilized to de-compose the original high-order system into two lower order subsystems. Subsequently, nonlinear disturbance observers are proposed for reduced order slow subsystem and the reduced order fast subsystem respectively. Using the estimated disturbance information, two composite controllers are developed for the reduced-order subsystems, and the uniformly ultimately boundedness of subsystems is guaranteed. Moreover, the stability of the closed-loop high-order system is also proved via the Lyapunov approach, even though the observers and controllers are developed for the reduced-order subsystems. The effectiveness of the proposed control scheme is demonstrated by simulations.

KW - composite control

KW - nonlinear disturbance observer

KW - singular perturbation

KW - singularly perturbed system

UR - http://www.scopus.com/inward/record.url?scp=85137792149&partnerID=8YFLogxK

U2 - 10.1109/DDCLS55054.2022.9858508

DO - 10.1109/DDCLS55054.2022.9858508

M3 - Conference contribution

AN - SCOPUS:85137792149

T3 - Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022

SP - 461

EP - 466

BT - Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022

A2 - Sun, Mingxuan

A2 - Chen, Zengqiang

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022

Y2 - 3 August 2022 through 5 August 2022

ER -

Zheng D, Li W, Ren X. Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances. In Sun M, Chen Z, editors, Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 461-466. (Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022). doi: 10.1109/DDCLS55054.2022.9858508

Trajectory Tracking Control of Nonlinear Singularly Perturbed Systems With Disturbances

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this