全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

线性扩张状态观测器及其高阶形式的性能分析

DOI: 10.13195/j.kzyjc.2014.0561, PP. 815-822

Keywords: 扩张状态观测器,高阶线性扩张状态观测器,滤噪性能,峰值现象,扩张阶数

Full-Text   Cite this paper   Add to My Lib

Abstract:

扩张状态观测器(ESO)作为自抗扰控制(ADRC)的核心组件,其自身及高阶扩展形式的性能分析与评估至关重要.借助Lyapunov逆定理证明了任意扩张阶数下线性扩张状态观测器(LESO)重构状态误差的收敛性,并得出了观测误差上界与扩张阶数的定量关系式;在分别考虑扩张阶数、观测器带宽以及剪切频率的情况下,探讨了高阶及传统LESO的动态响应、干扰抑制能力与观测器参数间的关系;最后,结合改进的ADRC控制器,在估计能力、峰值现象的抑制、滤噪性能等方面对高阶及传统LESO进行了性能评估与仿真验证.所得出的结论可为ADRC应用中ESO的选取提供有效的理论依据.

References

[1]  黄一, 薛文超. 自抗扰控制: 思想、应用及理论分析[J]. 系统科学与数学, 2012, 32(10): 1287-1307.
[2]  (Huang Y, Xue W C. Active disturbance rejection control: Methodology, applications and theoretical analysis[J]. J of Systems Science and Mathematical Sciences, 2012, 32(10): 1287-1307.)
[3]  Lu Y S. Sliding-mode disturbance observer with switchinggain adaptation and its application to optical disk drives[J]. IEEE Trans on Industrial Electronic, 2009, 56(9): 3743-1328.
[4]  Khalil H K. High-gain observers in nonlinear feedback control[C]. Int Workshop on New Directions in Nonlinear Observer Design. London: Springer-Verlag, 1999: 249-268.
[5]  韩京清. 抗扰控制技术—估计补偿不确定因素的控制技术[M]. 北京: 国防工业出版社, 2008.
[6]  (Han J Q. Active disturbance rejection control technique—The technique for estimating and compensating the uncertainties[M]. Beijing: National Defense Industry Press, 2008.)
[7]  Gao Z Q. Scaling and bandwidth-parameterization based controller-tuning[C]. Proc of the 2003 American Control Conf. Denver: IEEE, 2003: 4989-4996.
[8]  Xiao X Y, Huang Y. Capabilities of extended state observer for estimating uncertainties[C]. American Control Conf. St Louis, 2009: 3700-3705.
[9]  Guo B Z, Zhao Z L. On the convergence of an extended state observer for nonlinear systems with uncertainty[J]. Systems & Control Letters, 2011, 60(6): 420-430.
[10]  Zheng Q, Gao L, Gao Z Q. On validation of extended state observer through analysis and experimentation[J]. J of Dynamic Systems, Measurement and Control, 2012, 134(2): 024505.1-024505.6.
[11]  陈增强, 孙明玮, 杨瑞光. 线性自抗扰控制器的稳定性研究[J]. 自动化学报, 2013, 39(5): 574-580.
[12]  (Chen Z Q, Sun M W, Yang R G. On the stability of linear active disturbance rejection control[J]. Acta Automatica Sinica, 2013, 39(5): 574-580.)
[13]  王海强, 黄海. 扩张状态观测器的性能与应用[J]. 控制与决策, 2013, 28(7): 1078-1082.
[14]  (Wang H Q, Huang H. Property and applications of extended state observer[J]. Control and Decision, 2013, 28(7): 1078-1082.)
[15]  Radke A, Gao Z. A survey of state and disturbance observers for practitioners[C]. Proc of the 2006 American Control Conf. Minneapolis, 2006: 5183-5188.
[16]  Ramirez N M, Hebertt S R, Rodriguez A A, et al. An active disturbance rejection controller for a parallel robot via generalized proportional integral observers[C]. American Control Conf. Montreal, 2012: 5478-5483.
[17]  Ushirobira R, Perruquetti W, Mboup M, et al. Algebraic parameter estimation of a multi-sinusoidal waveform signal from noisy data[C]. The 2013 European Control Conf(ECC). Zürich, 2013: 1902-1907.
[18]  Mario R A M, Jose L, Hebertt J, et al. An active disturbance rejection control of leader-follower Thomson’s jumping rings[J]. Control Theory & Applications, 2013, 30(12): 1544-1552.
[19]  王璐, 苏剑波. 基于干扰抑制控制的飞行器姿态跟踪[J]. 控制理论与应用, 2013, 30(12): 1609-1616.
[20]  (Wang L, Su J B. Attitude tracking of aircraft based on disturbance rejection control[J]. Control Theory & Applications, 2013, 30(12): 1609-1616.)
[21]  XueW, Huang Y. Comparison of the DOB based control, a special kind of PID control and ADRC[C]. Proc of the 2011 American Control Conf. San Francisco, 2011: 4373-4379.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133