摘要
针对一类具有时变时延的不确定非线性系统的跟踪控制问题,利用扩张状态观测器估计系统中具有时变时延的未知项。对于在反推技术中出现虚拟控制的导数,采用非线性跟踪微分器对其进行跟踪,设计实际控制器以使闭环系统中的状态及部分跟踪信号收敛于原点邻域。仿真结果验证了该方法的可行性。
For the track control problem of a class of uncertain nonlinear system with time-varying delay,the extended state observer was utilized to estimate the unknown term with time-varying delay. The nonlinear tracking differentiator was used to track the derivative of virtual control in the backstepping design. Then the actual controller was derived to make the states and partial tracking signals in the closed-loop system converge to the neighborhood of the origin. The simulation results illustrate the feasibility of the approach.
出处
《河南科技大学学报(自然科学版)》
CAS
北大核心
2017年第2期48-53,共6页
Journal of Henan University of Science And Technology:Natural Science
基金
国家自然科学基金项目(61573230)
山西省回国留学人员科研基金项目(2015-017)
关键词
扩张状态观测器
微分跟踪器
反推技术
跟踪控制
extended state observer
tracking differentiator
backstepping
track control