A self-learning disturbance observer for nonlinear systems in feedback-error learning scheme

Date
2017-06-01
Authors
Kayacan, Erkan
Peschel, Joshua
Peschel, Joshua
Chowdhary, Girish
Major Professor
Advisor
Committee Member
Journal Title
Journal ISSN
Volume Title
Publisher
Altmetrics
Authors
Research Projects
Organizational Units
Journal Issue
Series
Department
Agricultural and Biosystems Engineering
Abstract

This paper represents a novel online self-learning disturbance observer (SLDO) by benefiting from the combination of a type-2 neuro-fuzzy structure (T2NFS), feedback-error learning scheme and sliding mode control (SMC) theory. The SLDO is developed within a framework of feedback-error learning scheme in which a conventional estimation law and a T2NFS work in parallel. In this scheme, the latter learns uncertainties and becomes the leading estimator whereas the former provides the learning error to the T2NFS for learning system dynamics. A learning algorithm established on SMC theory is derived for an interval type-2 fuzzy logic system. In addition to the stability of the learning algorithm, the stability of the SLDO and the stability of the overall system are proven in the presence of time-varying disturbances. Thanks to learning process by the T2NFS, the simulation results show that the SLDO is able to estimate time-varying disturbances precisely as distinct from the basic nonlinear disturbance observer (BNDO) so that the controller based on the SLDO ensures robust control performance for systems with time-varying uncertainties, and maintains nominal performance in the absence of uncertainties.

Comments

This is a manuscript of an article published as Kayacan, Erkan, Joshua M. Peschel, and Girish Chowdhary. "A self-learning disturbance observer for nonlinear systems in feedback-error learning scheme." Engineering Applications of Artificial Intelligence 62 (2017): 276-285. DOI: 10.1016/j.engappai.2017.04.013. Posted with permission.

Description
Keywords
Citation
DOI
Collections