基于指令滤波的板球系统误差反步控制器研究

Research on Backstepping Controller for Ball and Plate System based on Command Filter

针对存在未知扰动条件下板球系统的轨迹跟踪控制精度不高的问题,研究了一种基于指令滤波的误差反步控制方法.首先,建立板球系统模型,引入二阶指令滤波器,滤除小球位置和速度状态变量的噪声干扰.其次,逐步选取李雅普诺夫函数,设计误差反步控制器,克服系统受到的外界干扰,实现对输入信号的渐进跟踪控制.最后,通过李雅普诺夫理论证明系统稳定性.仿真结果表明,该控制器能够有效抑制干扰,精确地完成轨迹跟踪任务.

The trajectory tracking control precision of the ball and plate system is not high under the unknown disturbance condition.A backstepping control method was studied based on a command filter. Firstly,the ball and plate system model was established,and a second-order command filter was introduced to filter out the noise disturbance of ball position and velocity state variables. Secondly,the error backstepping controller was designed by gradually selecting the Lyapunov function.Overcome the system’s external disturbance and realize the input signal progressive tracking control. Finally,the closed-loop system stability was proved by Lyapunov theory.The simulation results showed that the controller can effectively suppress the system disturbance and accurately complete the trajectory tracking task.