摘要
针对一类非线性多入多出系统,设计了一种新的解耦控制器.首先采用反推技术设计每一个子系统的等效输入;然后用扩张状态观测器(ESO)对各个子系统的耦合、外扰和参数时变等不确定作用进行动态估计,并把估计值引入到反推控制器中进行补偿,最终实现解耦和控制.利用Lyapunov稳定性理论证明了该方法的收敛性;数例仿真表明了该方法可获得较快的响应速度及较好的解耦效果和鲁棒性.
For a class of nonlinear MIMO system,a novel decoupling control method is proposed.Firstly,equivalent input of each subsystem is designed by using backstepping method.Then,the total uncertainties,including coupling effect,external disturbance and parameter time-varying of each subsystem,are estimated by an extended state observer（ESO）,and the estimate is introduced into the backstepping controller to compensate.Finally,decoupling and control are achieved.The convergence of the new method is proved by using Lyapunov stability theory.Simulation result shows that the method can achieve fast response,good decoupling effect and good robustness.
出处
《控制与决策》
EI
CSCD
北大核心
2010年第12期1782-1786,1792,共6页
Control and Decision
基金
北京市教委重点学科共建项目(XK100080537)
