基于改进非线性控制律的伺服平台自抗扰控制

Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI:10.1109/ICICIP.2014.7010348

Hang Zhang

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引用次数: 0

摘要

为了提高伺服平台在快速运动条件下的跟踪性能，提出了一种新的非线性控制律。在线性自抗扰的基础上，选择了一个反正切函数，并将其平滑地扩展为一条反s曲线。新方法保留了对内部未建模动力学和外部扰动进行估计和补偿的特点。仿真和对比试验表明，采用新控制方法的系统具有更快、更准确的跟踪效果。

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Active disturbance rejection control of servo platform using improved nonlinear control law

A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.

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Fifth International Conference on Intelligent Control and Information Processing

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