基于扩张状态观测器的非完整系统的镇定控制:一种全驱系统方法

Extended State Observer-based Stabilization Control of Nonholonomic Systems:an FAS Approach

利用全驱系统方法,研究一类具有未知外部扰动的非完整系统的全局镇定控制问题。针对系统的两个控制输入,分别设计指数镇定控制器和基于扩张状态观测器的输出反馈镇定控制器。基于全驱系统模型,通过引入扩张状态观测器来估计系统状态和未知外部扰动。稳定性分析表明,所提出的镇定控制策略能够保证闭环系统的信号是一致有界的。仿真结果验证了所提出的控制方案的有效性和合理性。

The global stabilization control problem is studied for a class of nonholonomic systems with unknown external disturbances by using the fully actuated system(FAS)approach.For two control inputs of the system,an exponential stabilization controller and an output feedback stabilization controller based on an extended state observer are respectively designed.Based on the fully actuated system model,an extended state observer is introduced to estimate both the system states and the unknown external disturbances.The stability analysis shows that the signals of the closed-loop system are uniformly bounded under the proposed stabilization control strategy.Finally,the simulation results verify the effectiveness and rationality of the proposed control scheme.