一种两相幂次吸引律离散时间控制方法  

A two-phase power attracting law based discrete-time control

作　　者：陈强[1] 叶艳 胡轶[1] 孙明轩[1] CHEN Qiang;YE Yan;HU Yi;SUN Ming-xuan(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《控制与决策》2022年第2期424-430,共7页Control and Decision

基　　金：国家自然科学基金项目(61973274,62073291);浙江省自然科学基金项目(LY17F030018);高端装备先进感知与智能控制教育部重点实验室开放课题(GDSC202010)。

摘　　要：针对一类不确定离散时间系统,提出一种新型两相幂次吸引律.在吸引律设计中,通过将跟踪误差收敛过程划分为两个不同阶段,增加误差收敛幅度并提高误差收敛速度.构造离散形式的扩张状态观测器有效补偿系统干扰,基于观测值设计两相幂次形式的离散时间控制器,提高系统鲁棒性并减小稳态误差.此外,推导出跟踪误差绝对吸引层和稳态误差带的具体表达式,并给出最大收敛步数分析用于刻画系统稳态和瞬态性能.最后通过仿真结果验证所提方法的有效性.In this paper,a novel two-phase power attracting law based control scheme is proposed for a class of uncertain discrete-time systems.In the design of the attracting law,the convergence process of the tracking error is divided into two different stages,such that the amplitude of each convergence step and the error convergence speed can be both improved.An extend state observer is constructed to effectively compensate for system disturbances,and a discrete-time controller with two-phase power is presented to improve the system robustness and reduce the steady-state error.In addition,the steady-state error band,the attractive layer and the maximum step size of the tracking error converging into the steady-state error band are respectively derived to characterize both the steady-state and transient performance.Finally,simulation results show effectiveness of the proposed scheme.

关 键 词：吸引律 两相幂次 扩张状态观测器 离散时间控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]