不确定Euler-Bernoulli梁方程的边界输出跟踪

Output tracking for an Euler-Bernoulli beam equation with boundary uncertainty

中文关键词  Euler-Bernoulli梁方程  输出跟踪  干扰抑制  边界控制

英文关键词  Euler-Bernoulli beam equation  output tracking  disturbance rejection  boundary control

中文摘要

      本文讨论边界带有控制输入非同位的内部不确定和外部扰动的Euler-Bernoulli梁方程输出跟踪问题. 为处理边界干扰, 文章首先设计了一个新的总扰动估计器, 在线估计未知扰动. 其次基于估计出来的总扰动, 设计一个伺服系统跟踪参考信号. 最后根据自抗扰方法获得控制输出跟踪的反馈控制. 闭环系统被证明是适定和有界的, 且受控系统的输出指数跟踪参考信号.

英文摘要

      This paper discusses output tracking problem on a boundary controlled Euler-Bernoulli beam equation suffered non-collocated unknown internal nonlinear uncertainty and external disturbance. To deal with boundary disturbance, we firstly design a novel disturbance estimator to estimate successfully the total disturbance. A servomechanism based on the estimated total disturbance is designed to track the reference signal. Finally, we obtain an output tracking controller by using active disturbance rejection method. It is shown that the closed-loop system is well-posed and bounded. Moreover, the performance output can track the reference signal exponentially.