摘要
针对含输入端未知时延的时滞系统,利用坐标变换设计了三阶非线性反馈扩张状态观测器。扩张状态观测器能够同时估计变换后的系统状态和输入端总扰动信号,非线性反馈具有快速收敛性。通过对时延环节的一阶近似,时滞系统被转化为带有未知函数的二阶非线性不确定性系统的输出反馈控制问题。在此基础上,设计基于跟踪微分器和扩张状态观测器的二阶滑模控制器,实现了输出信号的快速精确跟踪。数值仿真结果验证了所提出控制算法的有效性。
Aiming at the time-delay systems with uncertainty,this paper designs a third-order nonlinear feedback extended state observer(ESO) by using the coordinate transformation.The ESO can estimate both the system states and the total disturbance signal,and the nonlinear feedback has fast convergence.By the first-order approximation of the time-delay,the output feedback control problem of the time-delay system is transformed into controlling the second-order nonlinear uncertain system with unknown function.On the basis of the tracking differentiator(TD) and the designed ESO,the second-order sliding mode controller(SMC) is designed to realize the fast and accurate tracking of the output signal.The numerical simulation results verify the effectiveness of the proposed control algorithm.
作者
王素珍
孙国法
刘胜荣
Wang Suzhen;Sun Guofa;Liu Shengrong(School of Automation Engineering,Qingdao University of Technology,Qingdao 266520,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2019年第1期102-109,共8页
Journal of System Simulation
基金
中国博士后科学基金(2013M541939)
青岛建设事业科技发展专项(JK2015-20)
青岛理工大学名校工程专业建设与教学改革项目(MX4-123)
国家级大学生创新创业训练计划(201610429029)
关键词
时滞系统
扩张状态观测器
自抗扰控制
滑模控制
time-delay system
extended state observer
active disturbance rejection control
sliding mode controller
