Disturbance Observer Based Control: Robust Control or Adaptive Control?
【讲座题目】Disturbance Observer Based Control: Robust Control or Adaptive Control?
【主 讲 人】Prof. Wen-Hua Chen，Department of Aeronautical and Automotive Engineering, Loughborough University
Wen-Hua Chen holds Professor in autonomous vehicles in the Department of Aeronautical and Automotive Engineering at Loughborough University, where he is also heading the Controls and Reliability Research Group. Before joining Loughborough in 2000 as Lecturer in Flight Control, Dr. Chen was a Research Fellow and then a Lecturer in Control Engineering in the Centre for Systems and Control at University of Glasgow. Dr Chen has a considerable experience in advanced control and signal processing and their applications in aerospace and automotive engineering. In the last 12 years, he has been spending most of his effort in developing autonomous system technologies and their applications in agriculture, environment and defence. Prof Chen is a Changjiang Visiting Professor awarded by the Ministry of Education of China, a Chartered Engineer, a Fellow of the Institute of Engineering and Technology and a Fellow of the Institute of Mechanical Engineers, UK.
Disturbance Observer Based Control (DOBC) and related methods have been researched and applied in various industrial sectors in the last four decades. This talk gives an overview of a number of widely used linear and nonlinear disturbance/uncertainty estimation techniques, and then discusses and compares various compensation techniques and the procedures of integrating disturbance/uncertainty compensation with a (pre-designed) linear/nonlinear controller. It provides in-depth analysis of the relationships between these methods and, more importantly, on their similarities and differences with a number of well-known control methods such as internal model control, output regulation theory and adaptive immersion and invariance. It shows that DOBC and related methods provide a promising, flexible and versatile approach in dealing with disturbance and uncertainty, which is complementary to robust control and adaptive control methodologies.