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将用电磁方法悬浮起来的一对环构成领导者–跟随者系统实现对光滑参考轨线的跟踪要求.这一任务通过设计具有对扰动进行在线估计与补偿功能的自抗扰控制器(ADRC)实现.本文设计方法与传统ADRC的主要不同在于领导者和跟随者的跟踪控制器设计都是基于平坦输出的线性化近似系统.超出线性化近似有效区域的大的高度偏差所导致的未知非线性则被视为扰动,这个扰动借助于线性扩张观测器进行在线估计并通过线性反馈控制器进行消除.实验结果检验了本文所提方法的有效性.
A pair of rings suspended electromagnetically form the leader-follower system for the tracking of smooth reference trajectories by designing an adaptive disturbance rejection controller (ADRC) with on-line estimation and compensation of disturbances, The main difference between this design method and the traditional ADRC is that both the leader and the follower’s tracking controllers are based on a flat output linear approximation system.The unknown nonlinearity caused by large height deviations beyond the linear approximation effective area It is considered as a perturbation. The perturbation is estimated online by linear expansion observer and eliminated by the linear feedback controller.The experimental results verify the effectiveness of the proposed method.