| 引用本文: | 吴中华,郑帅鹏,张建军.基于新型扰动观测器的动态面固定时间控制器设计[J].控制理论与应用,2024,41(11):2180~2188.[点击复制] |
| WU Zhong-hua,ZHENG Shuai-peng,ZHANG Jian-jun.Design of dynamic surface fixed time controller based on new disturbance observer[J].Control Theory and Technology,2024,41(11):2180~2188.[点击复制] |
|
| 基于新型扰动观测器的动态面固定时间控制器设计 |
| Design of dynamic surface fixed time controller based on new disturbance observer |
| 摘要点击 217 全文点击 61 投稿时间：2022-04-15 修订日期：2024-05-07 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2024.20272 |
| 2024,41(11):2180-2188 |
| 中文关键词 扰动观测器 动态面控制 固定时间稳定 反步控制 |
| 英文关键词 disturbance observer dynamic surface control fixed-time stable backstepping control |
| 基金项目 国家自然科学基金项目(61903126), 河南省重点研发与推广项目(232102220030), 河南省高校重点科研项目(24A590003), 河南理工大学博士创新 基金项目(760807/028), 河南理工大学杰出青年基金项目(J2022–7)资助. |
|
| 中文摘要 |
| 针对一类具有未知上界的非匹配扰动的非线性严格反馈系统, 本文提出一种基于新型扰动观测器的动态面固定时间控制策略. 首先, 设计新型扰动观测器估计非匹配扰动; 其次, 通过设计不含分数次幂项的反步固定时间控制器, 避免分数次幂项多次求导引起奇异问题; 结合新型固定时间滤波器, 消除反步控制“微分爆炸”现象. 李雅普诺夫稳定性分析表明, 该方案能够保证系统满足实际固定时间稳定. 仿真结果验证了所提控制方案的有效性. |
| 英文摘要 |
| In view of the mismatched disturbance of a kind of nonlinear strict feedback system, a dynamic surface fixed time control strategy based on the new disturbance observer is proposed. Firstly, a new disturbance observer is designed to estimate the mismatched disturbances. Secondly, the fixed-time controller without fractional power term is designed by using backstepping method to avoid singular value problem. Then, combined with the new fixed-time filter, the phenomenon of “differential explosion” is eliminated. The analysis of Lyapunov’s function stability theory shows that the proposed scheme can ensure that the tracking error converges to the small neighborhood of the origin in a fixed time, and the simulation results verify the effectiveness of the proposed control scheme. |
|
|
|
|
|