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基于干扰观测器的不确定线性多变量系统控制

于哲 王璐 苏剑波

于哲, 王璐, 苏剑波. 基于干扰观测器的不确定线性多变量系统控制. 自动化学报, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643
引用本文: 于哲, 王璐, 苏剑波. 基于干扰观测器的不确定线性多变量系统控制. 自动化学报, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643
YU Zhe, WANG Lu, SU Jian-Bo. Disturbance Observer Based Control for Linear Multi-variable Systems with Uncertainties. ACTA AUTOMATICA SINICA, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643
Citation: YU Zhe, WANG Lu, SU Jian-Bo. Disturbance Observer Based Control for Linear Multi-variable Systems with Uncertainties. ACTA AUTOMATICA SINICA, 2014, 40(11): 2643-2649. doi: 10.3724/SP.J.1004.2014.02643

基于干扰观测器的不确定线性多变量系统控制

doi: 10.3724/SP.J.1004.2014.02643
基金项目: 

国家自然科学基金(61221003)资助

详细信息
    作者简介:

    于哲 上海交通大学自动化系硕士研究生. 主要研究方向为鲁棒控制,机器人运动控制. E-mail: azhe825@sjtu.edu.cn

    通讯作者:

    苏剑波, 上海交通大学自动化系教授. 主要研究方向为机器人控制, 多传感器信息融合, 机器学习与人机交互. 本文通信作者.E-mail: jbsu@sjtu.edu.cn

Disturbance Observer Based Control for Linear Multi-variable Systems with Uncertainties

Funds: 

Supported by National Natural Science Foundation of China (61221003)

  • 摘要: 针对不确定线性多变量系统,提出一种基于干扰观测器(Disturbance observer,DOB)的保证系统内部稳定性的控制策略.以简单的结构和少量的计算代价实现鲁棒的控制效果,补偿外界干扰以及内部模型误差.通过引入一个闭环稳定性等价系统,辅助分析基于干扰观测器的多变量控制系统的内部稳定性,探讨在存在外部扰动及内部模型不确定性的情况下系统保证内部稳定的充分条件,指导外环控制器及内环干扰观测器中Q滤波器的设计.通过数值模型上的仿真验证了提出的控制方法的有效性.
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出版历程
  • 收稿日期:  2014-03-26
  • 修回日期:  2014-07-18
  • 刊出日期:  2014-11-20

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