基于扰动观测器的非线性不确定系统滑模H2保性能控制

Sliding H2 Guaranteed Cost Control for Nonlinear Uncertain Systems Based on Disturbance Observer

针对一类受到外界扰动的非线性不确定系统,基于扰动观测器提出一种滑模保性能H2控制策略。首先,根据所提出的复合滑模面,设计包含扰动估计的滑模控制策略;其次,依据H∞和极点配置理论,设计鲁棒扰动观测器,来实现对扰动的估计;最后,给出了控制参数的选取原则,以实现H2保性能控制。仿真结果表明,该算法不仅能够有效抑制抖振,而且摆脱了对系统先验信息的依赖,具有较高的实用性和有效性。

According to a class of nonlinear uncertain system subject to external disturbance,a sliding H2 guaranteed cost control based on disturbance observer is proposed. First,a sliding control containing disturbance estimate was designed according to composite sliding surface. Second,based on H∞and regional pole assignment theories,disturbance observer was designed to obtain the disturbance estimate. Finally,selection principle of control parameters was proposed to realize the H2 guaranteed cost control. Simulation results demonstrate that the proposed strategy can successfully eliminate the chatter phenomenon in control input,and avoid the dependence on system prior information,showing the high practicability and effectiveness.