内外不确定因素同时估计与补偿的鲁棒分布式跟踪控制

Robust distributed tracking control with simultaneous estimation and compensation of internal and external uncertainties

中文关键词  分布式控制  不确定与干扰估计器  扩张状态观测器  跟踪控制  同时补偿

英文关键词  distributed control  uncertainty and disturbance estimator  extended state observer  tracking control  simultaneous compensation

中文摘要

      本文研究了多运动体系统中领航者(leader)和跟随者(follower)同时受扰条件下的跟踪控制问题. 针对3– DOF直升机模型的角度轨迹协同跟踪任务, 设计并验证了基于跟随者不确定因素和外部领航者干扰同时补偿的分 布式鲁棒算法. 分别通过不确定与干扰估计器和扩张状态观测器实现对内外扰动的估计与补偿, 恢复了标称系统的 跟踪性能. 证明了闭环估计误差和跟踪误差的最终界大小与估计器核心参数值的单调关系, 同时给出了系统实现渐 近跟踪的条件. 利用数字仿真实验和“虚实结合”实验验证了内外干扰同时补偿的必要性和参数调节机制的有效 性.

英文摘要

      This paper investigates the tracking control problem of a class of multi vehicle systems suffering from internal disturbance of the leader and external disturbance of the follower. Taking the angle trajectory cooperative tracking problem of a network of nonlinear 3–DOF helicopters as an example, a distributed robust algorithm is designed and verified, which is based on the simultaneous estimation and compensation of the uncertainties acting on the leader and followers. By an uncertainty and disturbance estimator and an extended state observer respectively, the estimation and compensation of input disturbances are realized to recover the tracking performance of a nominal system. It is proved that the ultimate bounds of tracking errors and closed-loop estimation errors depend monotonically on two key design parameters of the estimators, and the condition for asymptotic tracking is derived. The effectiveness of the parameter-tuning mechanism and the necessity of compensating both the internal and external disturbances for followers are demonstrated by a simulation comparison on a system including four virtual helicopter models and by an experimental comparison on a system including both virtual and real helicopter models.