具有不可测动态不确定性非线性系统的控制

Control of nonlinear systems with unmeasured dynamic uncertainties

针对具有非线性不确定性、不可测动态不确定性和参数不确定性的非线性系统,结合反演提出了自抗扰控制器。与现有的鲁棒自适应控制方法不同,该方法不区别不确定性的类别,构建了扩展状态观测器来处理总不确定性;同时为了避免传统反演设计过程中的计算复杂性,构建了微分器;此外,引入了动态信号来主导不可测动态不确定性。最后利用李雅普诺夫稳定性分析证明了设计的控制器可以保证系统输出收敛到参考信号的残集内。仿真结果验证了该算法的有效性。

Combined with backstepping,an auto disturbance controller for nonlinear systems with three types of uncertainties including nonlinear uncertainties,unmeasured dynamics uncertainties and parametric uncertainties is proposed.Different from the existing robust adaptive control approach,the proposed scheme makes no difference between the uncertainties.Extended state observers are constructed to deal with the total uncertainties,meanwhile,the differentiators are applied to avoid the explosion of complexity in traditional backstepping design.In addition,a dynamic signal is introduced to dominate the unmeasured dynamics uncertainties.Based on Lyapunov stabi-lity analysis,it is proved that the designed controller can guarantee the output to converge an arbitrary small region around the reference signal.Simulation studies illustrate the effectiveness of the proposed method.