执行器故障不确定非线性系统的自抗扰控制  

Active Disturbance Rejection Control for Uncertain Nonlinear System with Actuator Fault

作　　者：丁健[1] 刘志刚[1] 郭琼[1] 杨慧中 DING Jian;LIU Zhi-gang;GUO Qiong;YANG Hui-zhong(School of Control Technology,Wuxi Institute of Technology,Wuxi 214121,China;Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education),Jiangnan University,Wuxi 214122,China)

机构地区：[1]无锡职业技术学院控制技术学院,江苏无锡214121 [2]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《控制工程》2021年第12期2432-2437,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(61773181);江苏高校“青蓝工程”项目。

摘　　要：针对不确定非线性系统的执行器故障问题,提出一种基于扩张状态观测器的自抗扰控制方法。首先,将系统的内部扰动、外部扰动,以及实际故障执行器和理想线性执行器之间的偏差定义为总扰动,并利用扩张状态观测器进行实时估计和补偿,消除总扰动对系统输出的影响;然后,设计误差反馈控制律,使系统获得满意的跟踪性能;最后,两个二阶控制系统的仿真结果表明了所提控制方法的有效性。Based on the extended state observer(ESO), a method of active disturbance rejection control(ADRC) is proposed in this paper for the problem of actuator fault in uncertain nonlinear systems. Firstly, the internal disturbances, external disturbances, and deviations between the actual faulty actuator and the ideal linear actuator of the system are defined as total disturbance. The ESO is used for real-time estimation and compensation to eliminate the influence of total disturbance on the system output. Secondly, the error feedback control law is designed to make the system obtain satisfactory tracking performance. Finally, the simulation results of two second-order control systems demonstrate the effectiveness of the proposed control method.

关 键 词：执行器故障 不确定非线性系统 扩张状态观测器 自抗扰控制 总扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]