未知死区输入非线性系统的双观测器动态面控制

Robust simultaneous formation tracking and stabilization of nonholonomic wheeled mobile robots

针对一类含死区输入的严格反馈非线性系统,提出基于双观测器的自适应鲁棒控制算法.动态面的每一步设计中,第1观测器即跟踪信号观测器对指令信号进行观测,并得到指令信号的差分信号,消除传统动态面控制中计算复杂问题.第二观测器即扰动观测器在线估计高阶动态面控制系统中每一步的不确定模型,与跟踪信号观测器实现双反馈控制,提高控制效果.通过李雅普诺夫方法分析了自适应鲁棒控制器的输入输出有界的特性.最后,实验验证基于双观测器的自适应鲁棒控制器的性能,结果表明本文方法控制效果较好.且采用反双曲正弦函数建立观测器,参数调节少,利于工业应用.

In order to deal with a class of strictly feedback nonlinear systems with dead zone input,an adaptive robust control algorithm based on dual extended state observers is proposed.The first extended state observers(ESO)is designed to obtain the filtered and differential signals of the reference signal,which can eliminate“explosion of complexity”in traditional back-stepping scheme.Another ESO is used to observe and compensate the internal uncertain model and external unknown disturbance of the control system.Lyapunov method is used to analyze the stability of the adaptive robust controller.The simulation results show that the adaptive robust controller based on dual ESO has good performance.