摘要
提出一种基于扩张状态观测器(ESO)的任意参考模型自适应控制方法,该方法利用ESO直接估计系统状态,且对不确定性进行估计并补偿.基于ESO的模型参考自适应控制(MRAC),仅需要知道被控对象的阶次,而不必区分线性、非线性,时变、时不变,内部(参数、结构)不确定性、外部(扰动)不确定性等.此外,当参考模型与被控对象同阶并在满足期望性能指标的前提下,对被控对象模型依赖程度很低,简化了设计过程.首先,提出了基于ESO的MRAC控制器结构,并设计了控制律,进而给出了稳定性分析,最后进行了仿真验证.仿真结果表明,该方法具有鲁棒性好、控制量少、稳态精度高等优点.
A universal model reference adaptive control （MRAC） method based on extended state observer （ESO） was presented, which was used to directly estimate states and uncertainties and then compensate the uncertainties. Benefiting from the ESO, we only need to know the order of a system without distinction between linear and nonlinear system, time-varying and time-invariant system, the internal （parameter or structure） uncertainty and the external （disturbance） uncertainty etc. Furthermore, the reference model which meets desired performance index and has the same order with the system can be chosen arbitrarily largely independently of the system structure. Therefore, the controller design process is greatly simplified. After proposing the control architecture, the control law was designed and a strict stability analysis was given. The features mentioned above in addition to strong robustness, small control moment and high steady state accuracy are demonstrated by the simulation results.
