自动化学报2011，Vol.37Issue(3)：331-341,11.DOI:10.3724/SP.J.1004.2011.00331
基于H∞范数优化的干扰观测器的鲁棒设计
Design of Disturbance Observer with Robust Performance Based on H∞ Norm Optimization
摘要
Abstract
This paper proposes a robust design method of disturbance observer (DOB), employs the H∞ norm to define the optimization performance evaluation function of the DOB, and transforms the low-pass filter design into an H∞ closed loop shaping problem.By appropriate processing the constraints such as relative order condition etc., the loop shaping problem with constraints can be transformed into an H∞ standard problem without constraints, and then the algorithms for standard problems can be applied to the design of the filter.Furthermore, the relationship between performance and frequency weighted functions is investigated, based on which the selection method of weighted functions is presented.The experimental results validate the optimality and systematicness of the proposed method, which is easy to implement.关键词
高性能鲁棒运动控制/干扰观测器/H∞标准控制问题/低通滤波器/2自由度控制系统引用本文复制引用
尹正男,苏剑波,刘艳涛..基于H∞范数优化的干扰观测器的鲁棒设计[J].自动化学报,2011,37(3):331-341,11.基金项目
国家自然科学基金重点项目(60935001),教育部新世纪优秀人才支持计划(NCET-06-0398)资助 （60935001）
