高阶非线性系统新型固定时间收敛抗扰控制  

New Fixed Time Convergent Disturbance Rejection Control for Higher-order Nonlinear Systems

作　　者：刘鹏[1] 陈前 黄强 杨峤 蒲明[1] LIU Peng;CHEN Qian;HUANG Qiang;YANG Qiao;PU Ming(School of Control Engineering,Chengdu University of Information Technology,Chengdu 610225,China)

机构地区：[1]成都信息工程大学控制工程学院,四川成都610225

出　　处：《信息与控制》2020年第6期649-656,共8页Information and Control

基　　金：四川省科技厅基金资助项目(18ZDYF3191);四川省教育厅基金资助项目(17ZB0095);成都信息工程大学科研基金资助项目(KYTZ201636);成都市科技局基金资助项目(2016-HM01-00288-SF)。

摘　　要：针对高阶非线性系统的传统backstepping控制存在控制误差收敛时间无穷大、在靠近原点附近收敛速度急剧减缓、存在未知扰动和系统建模误差情况下鲁棒性较弱等问题,提出一类高阶非线性系统的新型固定时间抗扰控制.为此首先提出并证明一种新的固定时间收敛李雅普诺夫定理,其收敛时间存在不依赖于状态初值的固定上界,且具有相比现有李氏定理更快的收敛速度.再将该结论和传统的backstepping控制结合,并采用非线性干扰观测器高精度地估计出未知外扰动和建模误差的复合项,增强控制器鲁棒性、快速性,并减小稳态误差.最后将提出方案应用于倒立摆,结果表明提出方案的优越性.A new type of fixed-time disturbance rejection control is proposed to address the problems of the traditional backstepping control of higher-order nonlinear system,such as the infinite convergence time of control error,the sharp convergence slowdown near the origin,and the weak robustness in the case of unknown disturbance and system modeling error. First,a new Lyapunov theorem is presented and proved. The convergence time has a fixed upper bound,which is not dependent on initial state values. Furthermore,it has a faster convergence rate than the existing Lyapunov theorem. Then,it is combined with the traditional backstepping control,and the nonlinear disturbance observer is used to estimate the compound term of unknown external disturbance and modeling error with high precision to enhance the controller’s robustness and rapidity and to reduce the steady-state error. Finally,the scheme is used for an inverted pendulum. Results indicate the superiority of the proposed scheme.

关 键 词：非线性系统 BACKSTEPPING 固定时间 干扰观测器 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]