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非仿射纯反馈非线性系统的自抗扰控制

DOI: 10.3724/SP.J.1004.2014.01528, PP. 1528-1536

Keywords: 非仿射纯反馈,自抗扰,扩展状态观测器,跟踪微分器

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Abstract:

?针对一类具有外部扰动的不确定非仿射纯反馈非线性系统,结合反演和自抗扰技术,提出了一种新的控制设计方案,该方案中反演设计的每一步引入了自抗扰设计,同时采用微分器和扩展状态观测器分别估计虚拟控制的导数和系统的未知部分.与现有设计方法不同,它不是直接利用逼近定理来构建理想的控制器.该方案设计过程简单,并且通过输入状态稳定性分析证明了系统状态能渐近收敛到原点的任意小邻域内.仿真结果证实了该方法的有效性.

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