不确定全驱动系统基于降阶未知输入观测器的鲁棒自适应控制

IF 5.2 1区 工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Hong Jiang;Guangren Duan;Mingzhe Hou
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引用次数: 0

摘要

针对具有不确定性的全驱动系统,提出了一种基于未知输入观测器的鲁棒自适应控制方案。首先,引入带积分项的非线性降阶未知输入观测器来解耦系统中的不确定性,并通过积分项的作用抑制输出噪声。然后用线性参数变法处理非线性,给出求解观测器增益的线性矩阵不等式。其次,基于所提出的观测器设计鲁棒自适应控制器,利用自适应律估计不确定性界,使状态一致最终有界。由于鲁棒部分的设计,闭环系统的极限状态边界可以通过设计参数进行调整。通过对机电系统的仿真,验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robust Adaptive Control Based on Reduced-Order Unknown Input Observer for Fully Actuated Systems With Uncertainties
In this paper, a robust adaptive control scheme based on the unknown input observer is proposed for fully actuated systems with uncertainties. First, a nonlinear reduced-order unknown input observer with an integral term is introduced to decouple the uncertainties in the system and suppresses the output noises via the action of integral term. Then the linear matrix inequality for solving the observer gains is given by using the linear parameter varying method to treat the nonlinearity. Second, a robust adaptive controller based on the proposed observer, with the adaptive law to estimate the bound of uncertainties, is designed to make the states uniformly ultimately bounded. Due to the design of robust part, the ultimate bounds of states of the closed-loop system can be adjusted via the designed parameters. A simulation of the electromechanical system is given to demonstrate the effectiveness of the proposed method.
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来源期刊
IEEE Transactions on Circuits and Systems I: Regular Papers
IEEE Transactions on Circuits and Systems I: Regular Papers 工程技术-工程:电子与电气
CiteScore
9.80
自引率
11.80%
发文量
441
审稿时长
2 months
期刊介绍: TCAS I publishes regular papers in the field specified by the theory, analysis, design, and practical implementations of circuits, and the application of circuit techniques to systems and to signal processing. Included is the whole spectrum from basic scientific theory to industrial applications. The field of interest covered includes: - Circuits: Analog, Digital and Mixed Signal Circuits and Systems - Nonlinear Circuits and Systems, Integrated Sensors, MEMS and Systems on Chip, Nanoscale Circuits and Systems, Optoelectronic - Circuits and Systems, Power Electronics and Systems - Software for Analog-and-Logic Circuits and Systems - Control aspects of Circuits and Systems.
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