多源干扰下非线性系统预设性能控制研究

Research on preset performance control of nonlinearity system with multiple source interference

针对存在多源干扰和系统未知非线性模型的多输入多输出机械系统,提出利用扩张状态观测器对耦合的未知非线性和多源干扰进行在线估计;基于估计的结果,采用退步法设计鲁棒补偿预设性能控制器;最后通过对双连杆机械臂系统的仿真,验证所提出方法的有效性与鲁棒性;通过与传统低复杂度的PD控制算法进行仿真对比分析,结果表明,在多源干扰下提出的鲁棒预设性能控制方法在计算复杂度相当的情况下瞬态与稳态控制性能上更优异。

For MIMO mechanical systems with multi-source disturbances and unknown nonlinear models, an extended state observer is proposed to estimate the coupling unknown nonlinearity and multi-source disturbances online;Based on the estimated results, a backstepping method is used to design a robust compensation preset performance controller;Finally, the effectiveness and robustness of the proposed method are verified by simulation of a two link manipulator system;The simulation results show that the proposed robust preset performance control method has better transient and steady-state control performance when the computational complexity is equivalent under the condition of multi-source interference.