含死区高阶非线性系统自抗扰动态面控制  

Active disturbance rejection dynamic surface control of high-order nonlinear system with dead-zone

作　　者：孙国法 衡丽帆 SUN Guo-fa;HENG Li-fan(College of Information and Automation Engineering,Qingdao University of Technology,Qingdao Shandong 266520,China)

机构地区：[1]青岛理工大学信息与控制工程学院

出　　处：《控制理论与应用》2019年第8期1336-1344,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61703224,61640302,21606141)资助~~

摘　　要：针对一类含有未知死区输入的不确定纯反馈非线性系统,为实现精准控制,提出一种新的基于扩张状态观测器的动态面控制算法.用扩张状态观测器代替函数逼近器在线估计高阶系统动态面控制中每一步的不确定函数.结果表明,估计误差显著降低,闭环控制性能得到实质性改善.此外,设计跟踪微分器来消除传统反推方案中计算复杂的问题.通过李雅普诺夫方法分析了具有自适应鲁棒控制器的闭环系统的稳定性.最后,对所提出的自适应鲁棒控制方案进行仿真,取得了满意的结果.In order to achieve precise control of uncertain pure feedback nonlinear systems with unknown dead zone inputs,a new dynamic surface control(DSC)algorithm is proposed.Instead of using function approximators,extended state observers(ESO)are employed to estimate uncertain functions in each step of DSC online.As a result,the approximation error is significantly reduced and the closed-loop control performance is essentially improved.In addition,tracking differentiator(TD)is designed to eliminate“explosion of complexity”in traditional backstepping scheme.Lyapunov method is used to analyze the stability of closed-loop systems with adaptive robust controllers.Finally,examples are simulated under the proposed adaptive robust control method with satisfactory results.

关 键 词：自适应鲁棒控制 动态面控制 扩张状态观测器 死区 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]