一类光滑控制函数构造研究

Study on Construction of a Class of Smooth Control Functions

以自抗扰控制理论中跟踪微分器为研究对象,针对用sat函数表示的二阶连续跟踪微分器控制作用连续但不光滑的缺点,构造了带饱和限幅的连续光滑控制函数。将该函数引入二阶连续跟踪微分器,通过数学仿真验证,各项性能指标明显优于原跟踪微分器。

Continuous smooth control function with saturation amplitude limited is presented in this paper.The research object is the tracking-differentiator.The control effect of the second order continued tracking-differentiator which is described by using sat function is not smooth.Aiming at the disadvantage,the continued smooth control function with saturation amplitude limited is presented.By introducing it in second order continued tracking-differentiator,the performance is improved which can be showed in the nu...