滞环非线性系统的自抗扰动态面控制方法

Active Disturbance Rejection Control Method of Nonlinear Systems with Input Hysteresis

针对输入端还有类齿隙滞环的二阶不确定性非线性系统,提出一种基于扩张状态观测器的输出反馈自抗扰控制算法。为便于扩张状态观测器设计,首先采用坐标变换将严格反馈系统转化为串联积分结构。然后,基于该结构设计了非线性扩张状态观测器对系统状态和总扰动信号观测。在控制器设计中,采用动态面技术设计输出反馈控制信号,取代滑模控制信号。最后,数值仿真结果表明,所提出的自抗扰控制算法在控制性能方面优于传统PID控制器。

Based on extended state observer,an output feedback active disturbance rejection control（ ADRC） algorithm is proposed for second-order nonlinear systems with input backlash-like hysteresis. In order to facilitate the design of the extended state observer,the strict feedback system is firstly transformed into the series integral structure by using the coordinate transformation. Then,based on this structure,a nonlinear extended state observer（ ESO） is designed to estimate system states and the total disturbance. In the controller design,the dynamic surface control（ DSC） technique is used to replace the sliding mode control（ SMC）signal. Finally,the result of numerical simulation shows that the proposed ADRC algorithm is superior to traditional PID controller in control performance.