基于扰动观测器的时滞非线性系统的跟踪控制  

Disturbance Observer-Based Tracking Control for Nonlinear Systems with Input Delay

作　　者：齐晓静 刘文慧 Qi Xiaojing;Liu Wenhui(School of NARI Electrical and Automation,Nanjing Normal University,Nanjing 210023,China)

机构地区：[1]南京师范大学南瑞电气与自动化学院

出　　处：《南京师范大学学报（工程技术版）》2020年第1期1-7,共7页Journal of Nanjing Normal University(Engineering and Technology Edition)

基　　金：国家自然科学基金青年基金项目(61803208);江苏省自然科学基金青年基金项目(BK20180726);江苏省高校自然科学研究面上项目(18KJB120005)

摘　　要：研究了具有输入时滞和未知外部扰动的单输入单输出非线性系统的跟踪控制问题.针对系统中未知扰动,设计了扰动观测器对其进行良好的监测,针对输入时滞问题,采用pade近似和增加中间变量的方法消除其带来的影响.在系统具有未知外部扰动的情况下,利用反步法和扰动观测器的技术提出了鲁棒跟踪控制.在基于扰动观测器的鲁棒跟踪控制下,通过李雅普诺夫分析,保证了闭环系统中所有信号的一致渐近收敛性.最后通过一个仿真实例验证了该控制方法的有效性.This paper studies tracking control problem of a class of single input single output nonlinear systems with input delay and unknown external disturbances.First,a disturbance observer is designed to deal with the unknown disturbances.Then,pade approximation method and intermediate variable are introduced to eliminate the effects of the input delay.By using the backstepping technique and disturbance observer,we propose the tracking control scheme for the nonlinear systems with unknown external disturbances.Under the designed tracking control scheme based on the Lyapunov method,it is proved that all the signals in the closed-loop system are uniformly asymptotic convergence.Finally,a simulation example is given to verify the effectiveness of the proposed control method.

关 键 词：扰动观测器 输入时滞 外部扰动 反步法 跟踪控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]