严格反馈非线性系统基于事件触发的自抗扰预设有限时间跟踪控制  

Event-triggered Preassigned Finite-time Tracking Control with Active Disturbance Rejection for a Class of Strict Feedback Nonlinear Systems

作　　者：张立鹏 李小华[1] 何志江 ZHANG Lipeng;LI Xiaohua;HE Zhijiang(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China;Electric Equipment Installation Engineering Company of China Third Metallurgical Group Co.LTD,Anshan 114003,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051 [2]中国三冶集团有限公司电气安装公司,辽宁鞍山114003

出　　处：《信息与控制》2021年第4期441-448,458,共9页Information and Control

基　　金：辽宁省科技厅自然科学基金资助项目(20180550319);辽宁省教育厅科研基金资助项目(2019LNJC09)。

摘　　要：研究一类严格反馈非线性系统基于事件触发的自抗扰预设有限时间跟踪控制问题.采用反步法并结合自抗扰控制技术、预设性能及有限时间控制方法,提出了一种基于事件触发的自抗扰预设性能有限时间控制策略,并给出了控制器的设计方法.该方法在每一步的递推设计中使用自抗扰技术的扩张状态观测器来估计系统中的未知项,同时使用跟踪微分器来估计虚拟控制的导数从而避免微分膨胀.它可以保证系统输出在一个任意给定的停息时间内以预先设定的精度跟踪参考信号,并且闭环系统中的所有信号是有界的.事件触发机制的使用,使得控制输入不再持续更新,节约了通信资源.仿真验证了本文方法的有效性和优越性.An event-triggered preassigned finite-time tracking control problem with active disturbance rejection is studied for a class of strict feedback nonlinear systems.An event-triggered preassigned performance finite time control strategy with ADRC is proposed on the basis of a backstepping method,an ADRC technique,a preassigned performance,and a finite time control method.A controller is also designed for this purpose.In the recursive design of each step,an extended state observer in ADRC is used to estimate the unknown items in the system.A tracking differentiator is utilized to estimate the derivative of the virtual control and avoid differential expansion.With the designed controller,the output of the system tracks the given reference signal with a presetting accuracy within a given settling time,and all the signals in the closed-loop system are bounded.Through the event trigger mechanism,continuously updating the control input is unnecessary.Thus,communication resources are saved.Simulation results also verify the validity and advantages of the proposed controller.

关 键 词：非线性系统 自抗扰技术 事件触发 预设有限时间性能函数 反步设计法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]