基于未知输入观测器的不匹配干扰系统滑模控制  

Unknown Input Observer-based Sliding Mode Control for System with Mismatched Disturbance

作　　者：朱芳来[1] 李励[1] 

机构地区：[1]同济大学电子与信息工程学院,上海201804

出　　处：《同济大学学报（自然科学版）》2014年第7期1111-1116,共6页Journal of Tongji University:Natural Science

基　　金：国家自然科学基金(61074009);高等学校博士学科点专项科研基金(20110072110015);广西制造系统与先进制造技术重点实验室项目(PF110289);上海市重点学科建设项目(B004)

摘　　要：针对具有不匹配未知干扰的非线性系统,研究基于状态估计和未知输入重构的控制问题.在状态可测和未知干扰已知假设下,提出了一种新滑模控制器设计方法,以达到输出渐近稳定;通过设计一种未知输入观测器,对系统的时变未知输入进行重构;基于高增益滑模观测器对未知干扰的微分和系统的输出微分信息进行了有限时间内的精确估计;设计了一种新的基于观测器的控制策略,并论证其可行性.利用一个实际模型验证该控制器的有效性.This paper considers a control approach for a nonlinear system with mismatched disturbances via the estimation of system states and unknown inputs reconstruction.First,under the assumptions that both states and unknown disturbance are measurable,a new sliding mode controller is proposed to stabilize the output of the system.Then,by designing a kind of unknown input observer （UIO）,a time-varying unknown inputs reconstruction method is established.Meanwhile a set of high-gain sliding mode observers are considered to obtain the derivative information of system outputs and the unknown disturbance in finite time,which will be further used in reconstructing the disturbance and designing control strategy.Subsequently,a new observer-based controller is developed and its feasibility is proved.At last,a simulation example to a real model is given to verify the effectiveness of the proposed controller.

关 键 词：滑模控制器 未知输入观测器 高增益滑模观测器 干扰重构 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]