一类非线性严格反馈系统基于干扰观测器的抗干扰控制
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摘要
针对一类带有干扰的非线性严格反馈系统,研究其抗干扰控制问题.系统干扰满足不匹配条件,代表一类部分信息已知的干扰.通过设计非线性干扰观测器,提出基于非线性干扰观测器和back-stepping的抗干扰控制方法来补偿干扰,该方法可以保证闭环系统所有信号是半全局最终一致有界的.最后,通过与现有方法的对比验证了所提出方法的正确性和有效性.
Anti-disturbance control problem is studied for a class of nonlinear strict-feedback systems with disturbances. The system disturbances satisfy mismatched condition and represent a class of disturbances with partially-known information.By designing a nonlinear disturbance observer, the nonlinear disturbance observer plus back-stepping(NDOPBS) control strategy is proposed to compensate the disturbances. It is proved that all the signals in the closed-loop system are semi-global uniformly ultimate bounded(SGUUB). Finally, the numerical simulation result demonstrates the correctness and effectiveness of the proposed approach by the comparison with existing methods.
Anti-disturbance control problem is studied for a class of nonlinear strict-feedback systems with disturbances. The system disturbances satisfy mismatched condition and represent a class of disturbances with partially-known information.By designing a nonlinear disturbance observer, the nonlinear disturbance observer plus back-stepping(NDOPBS) control strategy is proposed to compensate the disturbances. It is proved that all the signals in the closed-loop system are semi-global uniformly ultimate bounded(SGUUB). Finally, the numerical simulation result demonstrates the correctness and effectiveness of the proposed approach by the comparison with existing methods.
引文
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[2]Chen W H,Ballance D J,Gawthrop P J,et al.A nonlinear disturbance observer for robotic manipulators[J].IEEE Trans on Industrial Electronics,2000,47(4):932-938.
[3]Zhang R,Li T,Guo L.Disturbance observer based control for flexible spacecraft with time-varying input delay[J].Advances in Difference Equations,2013,2013(1):1-12.
[4]Iwasaki M,Shibata T,Matsui N.Disturbance-observerbased nonlinear friction compensation in the table drive systems[J].IEEE/ASME Trans on Mechatronics,1999,4(1):3-8.
[5]Guo L,Chen W H.Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach[J].Int J of Robust and Nonlinear Control,2005,15(3):109-125.
[6]Chen W H.Disturbance observer based control for nonlinear systems[J].IEEE/ASME Trans on Mechatronics,2004,9(4):706-710.
[7]Wei X J,Guo L.Composite disturbance-observer-based control and H∞control for complex continuous models[J].Int J of Robust and Nonlinear Control,2010,20(1):106-118.
[8]Wei X J,Guo L.Composite disturbance-observer-based control and terminal sliding mode control for nonlinear systems with disturbances[J].Int J of Control,2009,82(6):1082-1098.
[9]Wei X J,Chen N.Composite hierarchical anti-disturbance control for nonlinear systems with DOBC and fuzzy control[J].Int J of Robust and Nonlinear Control,2014,24(2):362-373.
[10]Guo L,Wen X Y.Hierarchical anti-disturbance adaptive control for non-linear systems with composite disturbances and applications to missile systems[J].Trans of the Institute of Measurement and Control,2011,33(8):942-956.
[11]Sun H B,Guo L.Composite adaptive disturbance observer based control and back-stepping method for nonlinear system with multiple mismatched disturbances[J].J of the Franklin Insitute,2014,351(2):1027-1041.
[12]Zhou J,Wen C Y,Yang G H.Adaptive back-stepping stabilization of nonlinear uncertain systems with quantized input signal[J].IEEE Trans on Automatic Control,2014,59(2):460-464.
[13]Zhang T,Ge S S,Hang C C.Adaptive neural network control for strict-feedback nonlinear systems using backstepping design[J].Automatica,2000,36(12):1835-1846.
[14]Tong S C,Li Y M.Observer-based adaptive fuzzy backstepping control of uncertain nonlinear pure-feedback systems[J].Science China Information Sciences,2014,57(1):1-14.
[15]李军,乃永强.基于ELM的一类MIMO仿射非线性系统的鲁棒自适应控制[J].控制与决策,2015,30(9):1559-1566.(Li J,Nai Y Q.Robust adaptive control for a class of MIMO affine nonlinear systems using extreme learning machine[J].Control and Decision,2015,30(9):1559-1566.)
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