非仿射纯反馈非线性系统的自抗扰控制

程春华; 胡云安; 吴进华

doi:10.3724/SP.J.1004.2014.01528

非仿射纯反馈非线性系统的自抗扰控制

doi: 10.3724/SP.J.1004.2014.01528

1.
海军航空工程学院控制工程系烟台 264001

详细信息

作者简介:
胡云安海军航空工程学院控制工程系教授. 2004年获哈尔滨工业大学电器工程与自动化学院博士学位. 主要研究方向为飞行器导航和控制系统设计，非线性控制. E-mail：hya507@sina.com

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出版历程
- 收稿日期: 2013-02-05
- 修回日期: 2013-10-16
- 刊出日期: 2014-07-20

Auto Disturbance Controller of Non-affine Nonlinear Pure Feedback Systems

1.
Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001

摘要

摘要: 针对一类具有外部扰动的不确定非仿射纯反馈非线性系统，结合反演和自抗扰技术，提出了一种新的控制设计方案，该方案中反演设计的每一步引入了自抗扰设计，同时采用微分器和扩展状态观测器分别估计虚拟控制的导数和系统的未知部分.与现有设计方法不同，它不是直接利用逼近定理来构建理想的控制器.该方案设计过程简单，并且通过输入状态稳定性分析证明了系统状态能渐近收敛到原点的任意小邻域内.仿真结果证实了该方法的有效性.
- 非仿射纯反馈 /
- 自抗扰 /
- 扩展状态观测器 /
- 跟踪微分器
Abstract: In this paper, a novel control approach based on the combination of back-stepping design and auto disturbance rejection is presented for a class of non-affine nonlinear pure feedback systems with modeling uncertainties and external disturbances. During every step of back-stepping, the auto disturbance rejection control is adopted, meanwhile, a differentiator and an extended state observer (ESO) are respectively used to estimate the virtual control of the derivative and the unknown part of the system. It is different from other existing methods, which employed approximation theory to directly construct the controller for the non-affine nonlinear systems. The design procedure of this proposed scheme is not complicated, and the input to state stability (ISS) analysis shows that the system states can asymptotically converge to an arbitrarily small region of the equilibrium point. Several simulation examples illustrate the effectiveness of the proposed design.
- Non-affine pure feedback /
- auto disturbance rejection /
- extend states observers (ESO) /
- track differentiator (TD)

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参考文献(26)

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