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提出一种基于扩张状态观测器(ESO)的任意参考模型自适应控制方法,该方法利用ESO直接估计系统状态,且对不确定性进行估计并补偿.基于ESO的模型参考自适应控制(MRAC),仅需要知道被控对象的阶次,而不必区分线性、非线性,时变、时不变,内部(参数、结构)不确定性、外部(扰动)不确定性等.此外,当参考模型与被控对象同阶并在满足期望性能指标的前提下,对被控对象模型依赖程度很低,简化了设计过程.首先,提出了基于ESO的MRAC控制器结构,并设计了控制律,进而给出了稳定性分析,最后进行了仿真验证.仿真结果表明,该方法具有鲁棒性好、控制量少、稳态精度高等优点.
An adaptive control method for arbitrary reference model based on extended state observer (ESO) is proposed, which estimates the system state directly by using ESO and estimates and compensates the uncertainties. ESO-based model reference adaptive control (MRAC) , It is only necessary to know the order of the controlled object without distinction of linearity, nonlinearity, time-varying, constant, internal (parameter, structure) uncertainty, external (disturbance) uncertainty, With the same order of the controlled object and the expected performance index, the dependence on the controlled object model is very low and the design process is simplified.Firstly, the MRAC controller structure based on ESO is proposed and the control law is designed, and then The stability analysis is given and the simulation is carried out finally.The simulation results show that this method has the advantages of good robustness, less control and high steady-state accuracy.