| 引用本文: | 黄东,孙国法.时延系统的自抗扰动态面控制[J].控制理论与应用,2016,33(11):1501~1507.[点击复制] |
| HUANG Dong,SUN Guo-fa.Active disturbance rejection dynamic surface control of time-delay system[J].Control Theory and Technology,2016,33(11):1501~1507.[点击复制] |
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| 时延系统的自抗扰动态面控制 |
| Active disturbance rejection dynamic surface control of time-delay system |
| 摘要点击 3111 全文点击 1459 投稿时间：2016-01-26 修订日期：2016-08-12 |
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| DOI编号 10.7641/CTA.2016.60062 |
| 2016,33(11):1501-1507 |
| 中文关键词 自抗扰控制 动态面控制 扩张状态观测器 时延系统 非线性系统 |
| 英文关键词 active disturbance rejection control dynamic surface control extended state observer time-delay system nonlinear system |
| 基金项目 |
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| 中文摘要 |
| 本文针对高阶时延系统同时存在系统不确定性和未知输入时延的情况, 考虑控制器信号的复杂性问题, 在
动态面控制方法的基础上, 引入自抗扰控制技术设计了自抗扰动态面控制器.利用反步法设计动态面控制信号, 采
用跟踪微分器对虚拟控制信号滤波, 避免了由于对虚拟控制信号重复微分产生的“复杂性爆炸”问题; 在控制信号的
基础上叠加扰动补偿项, 补偿项由扩张状态观测器实时在线估计产生, 保证了控制信号的实时性, 同时简化了控制
器结构以便于实际应用. 在闭环系统稳定性判别中运用李雅普诺夫理论做出详细分析. 最后, 数值仿真结果验证了
所提出方法的有效性. |
| 英文摘要 |
| This paper aims at the control of high-order time-delay systems with both uncertainty and unknown input
time-delay. Considering the complexity problem of control signal, on the basis of dynamic surface control method, active
disturbance rejection control (ADRC) is introduced to design active disturbance rejection dynamic surface controller.
Backstepping method is employed to develop dynamic surface control signal. Using tracking differentiator (TD) to filter
the virtual control signals, the “complexity of explosion” problem of controller is eliminated without duplicate derivative
of virtual signal. Disturbance rejection term is added to the actual control signal, which is obtained by extended state observer
(ESO). Real-time control signal is ensured, while the controller structure is simplified for practical application. In
the closed-loop stability proof, Lyapunov theory is employed for detail analysis. Numerical simulation results validate the
efficiency of the proposed control scheme. |
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