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针对类似板球系统的一类高阶、强耦合、不确定非线性系统,利用backstepping算法的思想,提出以多个低阶自抗扰控制器级联实现控制的方法.通过各低阶自抗扰控制器的扩张状态观测器观测出各级对象的内外扰动,然后进行补偿,较好地解决了高阶非线性系统的不确定性、耦合性及干扰抑制问题.以板球系统的轨迹跟踪控制为例进行研究,所得结果表明,该方案适用于复杂高阶非线性级联系统的控制,具有良好的动态特性及鲁棒性.
Aiming at a class of high-order, strongly coupled and uncertain nonlinear systems like the cricket system, the idea of backstepping algorithm is proposed to realize cascade control with a plurality of low-order auto-disturbance rejection controllers. The dilatancy observer of the disturbance controller observes the internal and external disturbances of the objects at all levels and then compensates them to solve the problem of uncertainty, coupling and interference suppression of the high-order nonlinear systems well.The trajectory tracking The results show that the proposed scheme is suitable for the control of complex high-order nonlinear cascaded systems and has good dynamic characteristics and robustness.