非线性状态误差反馈控制律──NLSEF

Nonlinear State Error Feedback Control Law──NLSEF

给出一种独立于对象数学描述的新型状态误差反馈控制律──ＮＬＳＥＦ方案，跟踪－微分器能够很好地估计出不确定对象的“扩张状态”，从而为实现“状态反馈”和“模型，外扰补偿”提供了可能性。这种”模型补偿”实质上等价于非线性系统的“反馈线性化”。在这个方案中不必为消除外扰引起的稳态误差而采用“积分器”，大量计算机仿真实验表明，本文给出的控制律──ＮＬＳＥＦ具有很好的“适应性”和很强的“鲁棒性”。

In this paper,a new type of nonlinear state error feedback control law (NLSEF) is given, which is independent on the mathematical expression of the object. By making of the 'extended state observer' that can be used to estimate successfully the 'extended state' of uncertain system, it is possible to realize the 'state feedback' and 'model, external disturbance compensation'. This 'model compensation' is really equivalet to the 'feedback linearization' for the nonlinear system. Furthermore in this control scheme the integrator is not needed anymore to eliminate the steady error caused by external disturbance. Our computer simulations also demonstrate that this NLSEF has good adaptability and robustness.