基于非线性干扰观测器的一类欠驱动系统跟踪控制  

Nonlinear disturbance observer-based control for trajectory tracking of a class of underactuated systems

作　　者：黄辉先[1] 丁灿 刘嘉婷 HUANG Hui-xian;DING Can;LIU Jia-ting(College of Information Engineering,Xiangtan University,Xiangtan 411105,China)

机构地区：[1]湘潭大学信息工程学院,湖南湘潭411105

出　　处：《控制与决策》2019年第3期549-554,共6页Control and Decision

基　　金：国家部委预先研究基金项目(20170101)

摘　　要：针对一类欠驱动系统的跟踪控制问题,提出一种基于非线性干扰观测器的控制策略.首先给出一种基于跟踪误差的输出函数,通过等式变形和Butterworth低通滤波器解决未知控制方向问题;其次,引入一种新型非线性干扰观测器,对系统未知模型进行补偿,使控制器的设计无需知道系统的结构和参数;再次,通过对系统的内部动态和外部动态的分析,证明闭环系统的输出收敛于原点,跟踪误差信号一致最终有界;最后,将该方法应用于小车倒立摆模型,仿真结果表明了所提出方法的有效性.A nonlinear disturbance observer-based control scheme is proposed for the trajectory tracking of a class of underactuated systems. Firstly, a tracking error-based output function is proposed and the equation transformation and Butterworth low-pass filter are applied to solve the problem of unknown control directions. By introducing a novel nonlinear disturbance observer, which is used to compensate for unknown system model, the need to know the structure of the system and its parameters is obviated. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectory. Finally, the proposed method is applied to the cart-pole inverted pendulum, and the simulation results show its effectiveness.

关 键 词：欠驱动系统 非线性干扰观测器 输入-输出线性化 信号一致最终有界 小车倒立摆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]