欠驱动RTAC的滑模自抗扰镇定控制

Sliding mode active disturbance rejection control for underactuated RTAC

中文关键词  自抗扰控制  欠驱动系统  旋转激励平移振荡器  滑模控制

英文关键词  active disturbance rejection control  underactuated system  rotational/translational actuator  sliding mode control

中文摘要

      针对欠驱动RTAC (rotational/translational actuator)的镇定问题, 提出了一种滑模自抗扰控制方法, 通过对总 扰动的观测和补偿降低了未知扰动对RTAC的影响. 为克服RTAC的欠驱动特性, 所提方法通过将可驱动的摆球角度 和无驱动的小车位置两个状态相结合, 构建出虚拟被控量作为系统输出, 从而使RTAC的动力学模型转换为非欠驱 动模型. 基于重建的模型设计线性扩张状态观测器(linear extended state observer, LESO)和滑模控制器, 并采用 Lyapunov方法证明RTAC的闭环稳定性, 实现了RTAC的镇定控制, 有效抑制了小车的振荡. 最后, 通过数值仿真和硬 件实验验证了所提控制方法的有效性, 与已有方法的对比分析证明该方法具有良好的控制性能.

英文摘要

      For the stabilization problem of underactuated RTAC (rotational/translational actuator), a sliding mode active disturbance rejection control method based on disturbance compensation is proposed. The influence of unknown disturbance on RTAC is reduced by observing and compensating for the total disturbance. In order to overcome the underactuated characteristic of RTAC, a virtual actuated state is designed by combining the actuated rotational angle and the unactuated translational position of the cart. Then, the dynamic model of RTAC can be transformed into an actuated one. And consequently, a linear extended state observer (LESO) and a sliding mode controller are designed to stabilize the RTAC based on the reconstructed model. The corresponding convergence and stability analysis are backed up with rigorous Lyapunovbased analysis. As a result, the RTAC is stabilized by the proposed control method and the oscillation of the cart is restrained effectively. The effectiveness of the proposed method is verified by numerical simulation and hardware experiments, and it is proved that the proposed method can achieve better performance than existing methods.