基于虚拟模型的自适应解耦抗扰控制
Adaptive decoupling disturbance rejection control method based on virtual model

针对一类多变量非线性耦合系统，提出了一种基于虚拟模型的非线性自适应控制器.首先将非线性系统线性化处理并将其作为虚拟模型，对该模型设计线性自适应控制律.然后将线性控制律分别应用在虚拟系统与非线性系统上，根据两者的输出误差设计补偿控制律，以达到对非线性系统进行自适应解耦抗扰的目的.利用李雅普诺夫函数给出了控制系统稳定性条件.实验仿真验证了控制算法的有效性.
This paper proposes a virtual-model-based adaptive nonlinear controller for a class of multivariable nonlinear coupling systems. The controller uses the linearized nonlinear system as a virtual model and designs a linear adaptive control law for the model. On this basis, the linear control law is applied to the virtual model and the nonlinear system respectively, and the compensation control law is designed according to the output error of the virtual model and the nonlinear system to achieve the purpose of adaptive control of the nonlinear system. We use the Lyapunov function to give the stability analysis of the control system. Experimental simulation verifies the effectiveness of the control algorithm