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保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法

尹正男 苏剑波 高秀行

尹正男, 苏剑波, 高秀行. 保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法. 自动化学报, 2012, 38(1): 12-22. doi: 10.3724/SP.J.1004.2012.00012
引用本文: 尹正男, 苏剑波, 高秀行. 保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法. 自动化学报, 2012, 38(1): 12-22. doi: 10.3724/SP.J.1004.2012.00012
YIN Zheng-Nan, SU Jian-Bo, GAO Xiu-Xing. Systematic Design Method of Disturbance Observer Guaranteeing Closed-loop System's Robust Stability. ACTA AUTOMATICA SINICA, 2012, 38(1): 12-22. doi: 10.3724/SP.J.1004.2012.00012
Citation: YIN Zheng-Nan, SU Jian-Bo, GAO Xiu-Xing. Systematic Design Method of Disturbance Observer Guaranteeing Closed-loop System's Robust Stability. ACTA AUTOMATICA SINICA, 2012, 38(1): 12-22. doi: 10.3724/SP.J.1004.2012.00012

保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法

doi: 10.3724/SP.J.1004.2012.00012
详细信息
    通讯作者:

    尹正男 上海交通大学自动化系博士研究生. 于1998年在朝鲜金日成综合大学自动化系获硕士学位. 主要研究方向为机器人运动控制和鲁棒控制. 本文通信作者. E-mail: yjn2914@yahoo.cn

Systematic Design Method of Disturbance Observer Guaranteeing Closed-loop System's Robust Stability

  • 摘要: 研究带有干扰观测器(Disturbance observer,DOB)的反馈控制系统对模型不确定性鲁棒稳定的充分条件,在此基础上,选取满足此充分条件的加权函数,使得标准H∞干扰观测器设计方法保证对受控对象参数变化的鲁棒稳定性.提出了在H∞干扰观测器设计中兼顾鲁棒性设计指标和结构约束的频率加权函数的选取方法.利用加权函数选取的自由度,在干扰观测器低通滤波器设计中,实现Q—滤波器在截止频率上的高峰幅度与干扰抑制性能之间的最佳折中,使得干扰观测器在满足其幅度指标的条件下,具有最优干扰抑制性能.实验结果表明该方法保证了闭环反馈系统的鲁棒稳定性,同时,具有实现其他设计指标的自由度.
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  • 收稿日期:  2011-07-04
  • 修回日期:  2011-09-20
  • 刊出日期:  2012-01-20

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