非线性系统死区输入的自适应动态面控制

Adaptive Dynamic Surface Control for Nonlinear Systems with Dead-Zone Input

为实现对具有未知死区输入的非线性系统的跟踪控制,提出一种基于扩张状态观测器的自适应动态面控制算法。采用扩张状态观测器代替函数逼近器在线估计反演法每一步中的不确定函数,基于反演法技术构造自适应动态面输出反馈控制器,通过跟踪微分器来消除传统反演控制算法计算负荷大的问题,并给出稳定性证明。对所提出的控制方法进行仿真验证,结果表明该算法跟踪效果较好,鲁棒性和抗干扰能力较强。

In order to implement tracking control for nonlinear systems with unknown dead-zone inputs,an adaptive dynamic surface control algorithm is proposed based on Extended State Observer( ESO). The function approximator is replaced by ESO to online estimate the uncertain function of each step in backstepping control. An adaptive dynamic surface output feedback controller is constructed based on the backstepping technology. The Tracking Differentiator( TD) is employed to eliminate the problem of large computational load in the conventional backstepping control algorithm. Finally, the stability proof is given and the proposed control method is verified by simulations. The results show that the algorithm has good tracking effects, strong robustness and good anti-interference ability.