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旋转倒立摆系统具有非线性、多变量、非最小相位和欠驱动等特点,这些特点为该系统的控制设计提出了诸多挑战性的问题.针对旋转倒立摆系统提出了一种基于扩张状态观测器(ESO)的全局快速终端滑模控制器(ESO-GTSMC),保证旋转臂对期望轨迹的跟踪和摆杆在竖直方向的稳定.该控制器结合了滑模控制器系统鲁棒性好及设计简便的优点,运用快速终端滑模思想及全局动态滑模设计提高了系统的动态性能,同时利用扩张状态观测器来估计系统存在的实时外部干扰和内部参数不确定性并补偿给控制输入,提升了系统的抗干扰能力.仿真结果证明,所设计控制器的稳定性及动态性能优于传统的滑模控制器及最优控制器.“,”This paper presents a novel ESO-based global terminal sliding mode controller (ESO-GTSMC) for a class of rotary inverted pendulums (RIP), which are nonlinear, non-minimum phase and under-actuated systems and provides many challenging problems in controller design. This controller, in which the global terminal sliding mode sliding-mode control strategy is used combining with the extended state observer (ESO), guarantees that the rotary arm tracks the desired trajectory and the pendulum rod stabilizes in the upright position. The SMC strategy ensures the robustness of the control system and simplicity in designing. The ESO is used to estimate the external disturbance and internal parameter uncertainties in real-time. The results of numerical simulations demonstrate the effectiveness of the presented method for the RIP.