适应型非线性控制器的设计方法

Design method for adaptable nonlinear controllers

针对一类状态完全可测的单输入单输出非线性对象,采用二阶扩张状态观测器来观测补偿对象的不确定性,提出一种适应型非线性控制器的设计方法,并结合误差分析给出了参数整定规则。基于MonteCarlo方法,通过一个理想高阶对象的仿真研究,证实了该文提出的方法对于系统参数变化和外界扰动具有良好的动态特性、较强的抗干扰能力和性能鲁棒性。

A design method was developed for an adaptable nonlinear controller for a single input and single output observable nonlinear plant. Using second-order extended state observer, this controller compensates for internal and external disturbances affecting the plant which improves the adaptability and the ability to correct for disturbances. A Monte Carlo simulation of a high order plant demonstrates that the method has excellent dynamic characteristics and good robustness against model parameter variations and perturbations.