采用干扰差分补偿的无切换吸引离散时间控制方法

Non-switching-attracting discrete-time control method by using disturbance difference compensation

提出一种基于无切换吸引律的离散控制器设计方法,将干扰差分补偿措施嵌入吸引律中构建理想误差动态,依据理想误差动态推导离散时间控制器.所提控制方案既回避了抖振,也能够有效抑制干扰.给出稳态误差带、绝对吸引层、单调减区间和跟踪误差首次进入稳态误差带的最多步数的具体表达式,用以刻画系统跟踪误差瞬态、稳态性能,并指导控制器参数整定.数值仿真与实验结果验证了所提出方法的有效性.

A non-switching attracting law based discrete-time control method is proposed, where the disturbance difference compensation term is embedded in order to construct the ideal error dynamics. Based on the ideal error dynamics, a discrete-time controller can be derived, by which the chattering phenomenon can be avoided. Expressions of four performance indexes, including the steady-state error band, the absolute attracting layer, the monotonically decreasing region, and the maximum number of steps of that the tracking error converges into the steady-state error band for the first time, are derived to characterize both the transient and steady-state performance of the tracking error. Numerical simulation and experiment results verify the effectiveness of the proposed control scheme.