摘要
利用反双曲正弦函数分别设计了三阶跟踪微分器和三阶扩张状态观测器,并利用该函数和设定输入的二阶微分信号设计控制律,从而构造了一种新型自抗扰控制器.通过李雅普诺夫函数证明了自抗扰控制系统在平衡点处渐近稳定.仿真实验表明,采用该自抗扰控制器的二阶系统能有效抑制内部和外部非线性扰动的影响,实现对方波信号和正弦信号的高精度跟踪,同时,扩张状态观测器能较准确地估计系统内部和外部扰动信号.
A third-order tracking differentiator and a third-order extended state observer（ESO）with an inverse hyperbolic sine function were proposed in this paper.The control law was designed with this function and the second-order derivative of the desired input signal.A new active disturbance rejection controller（ADRC）was constructed.Moreover,the asymptotic stability at the equilibrium point of the ADRC system was proved with the Lyapunov function.Finally,the simulation experiments demonstrate that the ADRC second-order system can track the square wave signal and sine signal in higher precision by rejecting the inner and outer nonlinear disturbance,and the ESO can accurately estimate the inner and outer disturbance.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2015年第8期1186-1190,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金项目(61273161)
国家高技术研究发展计划(863)项目(2009AA7043001)
河南省科技攻关项目(142102210474)资助
关键词
反双曲正弦函数
跟踪微分器
扩张状态观测器
自抗扰控制器
李雅普诺夫函数
inverse hyperbolic sine function
tracking differentiator
extended state observer
active disturbance rejection controller（ADRC）
Lyapunov function
