领导者–跟随者Thomson跳环系统的自抗扰控制设计

An active disturbance rejection control of leader-follower Thomson’s jumping rings

中文关键词  Thomson跳环  自抗扰控制  广义比例积分(GPI)观测器  领导者–跟随者布局

英文关键词  Thomson’s jumping ring  active disturbance rejection control  generalized proportional integral (GPI) observers  leader-follower configuration

中文摘要

      将用电磁方法悬浮起来的一对环构成领导者–跟随者系统实现对光滑参考轨线的跟踪要求. 这一任务通过设计 具有对扰动进行在线估计与补偿功能的自抗扰控制器(ADRC)实现. 本文设计方法与传统ADRC的主要不同在于领导者 和跟随者的跟踪控制器设计都是基于平坦输出的线性化近似系统. 超出线性化近似有效区域的大的高度偏差所导致的 未知非线性则被视为扰动, 这个扰动借助于线性扩张观测器进行在线估计并通过线性反馈控制器进行消除. 实验结果检 验了本文所提方法的有效性.

英文摘要

      A set of two rings, levitated by electromagnetic means, is required to act as a leader-follower system in the smooth reference trajectory tracking task ascribed to the leader ring. The problem is approached from the perspective of active disturbance rejection control (ADRC) which entitles on-line disturbance estimation followed by controlled canceling. The main departure from traditional ADRC is based on the fact that tracking controllers of, both, the leader and the follower are designed on the basis of flatness combined with the tangent linearization of the corresponding nonlinear system around a constant equilibrium point. The large height deviations, outside the region of validity of the approximate linearization, trigger the effect of unknown (endogenous) nonlinearities viewed as perturbations. These disturbances are properly on-line estimated with the help of linear extended observers feeding a canceling effort on the individual linear output feedback controllers. Experimental results are presented which validate the effectiveness of the proposed control scheme.