Composite Autonomous Anti-disturbance Control for Systems with Multiple Disturbances

Complex systems in various fields including robot, aerospace, advanced manufacturing, and others are affected by heterogeneous disturbances and uncertainties resulting from internal disturbances, external disturbances, and model errors. With the increasing of requirements for accuracy, stability, and reliability, enhancing the ability of autonomous anti-disturbance control in complex environment has become the theoretical bottleneck and engineering challenge in the field of automation and artificial intelligence. This paper firstly reviews the traditional control methods that can attenuate or compensate a single kind of disturbance or an “equivalent” disturbance. Then, the paper introduces the theory of “refined” quantification and analysis under the influence of multiple disturbances and uncertainties, and subsequently proposes a composite anti-disturbance control law with hierarchical architecture: Composite Hierarchical Anti-Disturbance Control (CHADC). CHADC includes the disturbance description, disturbance estimation, disturbance compensation in feedforward path and the controller with disturbance attenuation in feedback path. The observability, compensability and repressibility of disturbances are proposed for the external observability and controllability of systems with disturbances. For the attitude control system of spacecraft, the experiment and simulation equipments of whole-loop anti-disturbance control are developed, which includes attitude estimation, controller, and execution parts. This technology can accomplish the whole-loop quantification and analysis of heterogeneous disturbances, as well as simultaneous attenuation and rejection of the heterogeneous disturbances. Consequently, the autonomous anti-disturbance performances of systems can be improved significantly.