时延系统的自抗扰动态面控制

摘要

This paper aims at the control of high-order time-delay systems with both uncertainty and unknown input time-delay. Considering the complexity problem of control signal, on the basis of dynamic surface control method, ac-tive disturbance rejection control (ADRC) is introduced to design active disturbance rejection dynamic surface controller. Backstepping method is employed to develop dynamic surface control signal. Using tracking differentiator (TD) to filter the virtual control signals, the“complexity of explosion”problem of controller is eliminated without duplicate derivative of virtual signal. Disturbance rejection term is added to the actual control signal, which is obtained by extended state ob-server (ESO). Real-time control signal is ensured, while the controller structure is simplified for practical application. In the closed-loop stability proof, Lyapunov theory is employed for detail analysis. Numerical simulation results validate the efficiency of the proposed control scheme.%本文针对高阶时延系统同时存在系统不确定性和未知输入时延的情况，考虑控制器信号的复杂性问题，在动态面控制方法的基础上，引入自抗扰控制技术设计了自抗扰动态面控制器。利用反步法设计动态面控制信号，采用跟踪微分器对虚拟控制信号滤波，避免了由于对虚拟控制信号重复微分产生的“复杂性爆炸”问题；在控制信号的基础上叠加扰动补偿项，补偿项由扩张状态观测器实时在线估计产生，保证了控制信号的实时性，同时简化了控制器结构以便于实际应用。在闭环系统稳定性判别中运用李雅普诺夫理论做出详细分析。最后，数值仿真结果验证了所提出方法的有效性。