自抗扰控制:思想、应用及理论分析

ACTIVE DISTURBANCE REJECTION CONTROL:METHODOLOGY,APPLICATIONS AND THEORETICAL ANALYSIS

首先从思想方法上剖析利用自抗扰控制思想处理不确定系统控制问题的独特之处,说明在运用自抗扰控制思想处理大范围及复杂结构(非线性、时变、耦合等)不确定系统时,首先需要准确分析系统中影响被控输出的"总扰动".然后,通过几个典型的应用研究实例说明自抗扰控制在处理大范围不确定性以及实现高精度闭环动态性能方面的优良品质.最后,对最新的理论分析结果进行简要综述.

This paper illustrates that the essence of employing ADRC to deal with the uncertain system, which may be nonlinear, time-varying and coupling, is to accurately determine the “total uncertainty” which will influence the output of the system. Then several application examples are introduced to demonstrate that ADRC can deal with vast uncertainties and ensure satisfying performance of the closed-loop system. The latest theoretical results on the ADRC based control systems are also introduced in this paper.