| 引用本文: | 陈志翔,高钦和.不确定非仿射系统的引入动态逆的自抗扰控制器设计[J].控制理论与应用,2020,37(11):2365~2382.[点击复制] |
| CHEN Zhi-xiang,GAO Qin-he.Active disturbance rejection controller for uncertain nonaffine systems by dynamic inversion[J].Control Theory and Technology,2020,37(11):2365~2382.[点击复制] |
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| 不确定非仿射系统的引入动态逆的自抗扰控制器设计 |
| Active disturbance rejection controller for uncertain nonaffine systems by dynamic inversion |
| 摘要点击 2175 全文点击 761 投稿时间：2019-06-06 修订日期：2020-05-13 |
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| DOI编号 10.7641/CTA.2020.90432 |
| 2020,37(11):2365-2382 |
| 中文关键词 自抗扰控制 非仿射系统 动态逆 不确定非线性系统 |
| 英文关键词 active disturbance rejection control nonaffine systems dynamic inversion uncertain nonlinear systems |
| 基金项目 |
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| 中文摘要 |
| 针对一类不确定非仿射严反馈非线性系统, 提出一种引入动态逆的线性自抗扰控制器设计方法. 首先, 利
用微分同胚映射将严反馈非线性系统变换为积分串联型系统, 然后针对积分串联型系统设计线性自抗扰控制器.
提出的线性自抗扰控制器将闭环系统划分为3个时间尺度, 其中线性扩张状态观测器位于最快的时间尺度上, 用来
估计系统的状态和总和扰动, 动态逆位于次快的时间尺度上用以求解非仿射情况下的控制律, 系统动态位于最慢的
时间尺度上. 利用奇异摄动理论分析了闭环系统的稳定性和性能. 提出的自抗扰控制设计方法同样适用于控制增
益不确定的仿射非线性系统. 仿真和实验结果验证了提出的线性自抗扰控制器的可行性. |
| 英文摘要 |
| This paper presents a linear active disturbance rejection control (LADRC) for nonaffine nonlinear systems
with strict-feedback form. Firstly, the strict-feedback nonlinear system is transformed into an integrator-cascaded system
by the diffeomorphism, for which the proposed LADRC design method is proposed. The proposed LADRC results in
a closed-loop system with a three-time-scale structure. A linear extended state observer (LESO) is designed to estimate
unmeasured states and total disturbances in the fastest time scale and dynamic inversion is used to deal with nonaffine
inputs in the intermediate time scale while the system dynamics evolves in the slowest time scale. The singular perturbation
method is used to analyze the stability and performance of the system. The proposed LADRC can also be applied to affine
nonlinear systems with uncertain control gain. Numerical simulations and experimental results are used to demonstrate the
effectiveness of the proposed LADRC |