具有未知输入干扰的补偿控制

Compensation Control with Unknown Input Disturbances

针对系统存在干扰波形已知但干扰幅值未知或幅值无界的一类外界干扰,提出了一种实现干扰补偿的控制策略,并给出了具体的设计过程。通过对原系统构造一个新的系统输出并为其设计状态观测器,进而实现对状态和干扰的同时估计。此外,并将干扰的估计信息引入到控制律当中,从而实现系统对外界干扰的补偿控制,保证系统状态有界。仿真结果验证了这一控制方法的有效性。

In the case of the immeasurable external disturbance with known waveform but unknown or unbounded magnitudes, a control scheme is proposed to compensate the effect of the external unknown disturbance on the system. By constructing an output of the original system and designing a observer for the output, both system states and disturbances can be estimated simultaneously. Then the estimation of disturbances is applied in the control law, which guarantees the desired performance of the system and compensates the effects of the disturbance. Simulation results demonstrate the effectiveness of the proposed method.