基于扰动观测器的时滞非线性系统的跟踪控制

Disturbance Observer-Based Tracking Control for Nonlinear Systems with Input Delay

研究了具有输入时滞和未知外部扰动的单输入单输出非线性系统的跟踪控制问题.针对系统中未知扰动,设计了扰动观测器对其进行良好的监测,针对输入时滞问题,采用pade近似和增加中间变量的方法消除其带来的影响.在系统具有未知外部扰动的情况下,利用反步法和扰动观测器的技术提出了鲁棒跟踪控制.在基于扰动观测器的鲁棒跟踪控制下,通过李雅普诺夫分析,保证了闭环系统中所有信号的一致渐近收敛性.最后通过一个仿真实例验证了该控制方法的有效性.

This paper studies tracking control problem of a class of single input single output nonlinear systems with input delay and unknown external disturbances.First,a disturbance observer is designed to deal with the unknown disturbances.Then,pade approximation method and intermediate variable are introduced to eliminate the effects of the input delay.By using the backstepping technique and disturbance observer,we propose the tracking control scheme for the nonlinear systems with unknown external disturbances.Under the designed tracking control scheme based on the Lyapunov method,it is proved that all the signals in the closed-loop system are uniformly asymptotic convergence.Finally,a simulation example is given to verify the effectiveness of the proposed control method.