非仿射系统的自适应观测器自抗扰控制

Auto disturbance rejection controller for non-affine nonlinear systems with adaptive observers

中文关键词  非仿射非线性  自抗扰  扩展状态自适应观测器

英文关键词  non-affine nonlinear  auto disturbance rejection (ADR)  extend state adaptive observers

中文摘要

      研究了一类单输入单输出(SISO)非仿射非线性系统的控制问题, 通过微分同胚变换以及自抗扰思想将该 类形式转化成含有未知非线性且控制增益未知的仿射形式. 引入扩展状态自适应观测器以及Nussbaum-type增益技 术, 利用积分反演和调节函数技术, 设计了自抗扰控制器. 从理论上证明了所设计的控制器能够保证闭环系统所有 信号全局一致有界, 并且证明了跟踪误差渐近收敛到零点的残集内. 仿真例子验证了算法的有效性.

英文摘要

      The control for a class of SISO non-affine nonlinear systems is studied. Based on differential homeomorphism transform and the auto disturbance rejection idea, the system is transformed to the affine form with unknown control directions and uncertain nonlinear terms. Combined with extended state adaptive observers (ESAO) and Nussbaum-type gain technique, a auto disturbance rejection controller (ADRC) is designed by employing the integrator backstepping and tuning function approach. According to Lyapunov stability analysis, we prove that the controller guarantees all signals in the closed-loop system to be globally uniformly bounded; especially, the tracking error can asymptotically converge to an arbitrary small region of the origin. The effectiveness of the proposed algorithm is validated by simulation examples.