自抗扰控制技术的原理剖析

摘要

本文针对自抗扰控制技术的发展过程及技术核心进行归纳剖析，以单输入单输出系统的自抗扰控制器为基础，对其内部跟踪微分器、扩张状态观测器、非线性误差反馈控制律的结构、功能、特点以及参数整定做了详尽的介绍。同时对单输入双输出系统、双输入单输出系统、双输入双输出系统及多输入多输出系统的自抗扰控制器特点进行剖析，并探讨了未来自抗扰控制研究的方向。%This paper concludes the development process of auto disturbance rejection control technology and core technology. Based on the single input single output system with ADRC, the structure, function, characteristics and parameters tuning of tracking differentiator & expanded state observe will be detailed introduction. At the same time for a single input double input and double output system, single output system, double input and double output system and multi input multi output system with ADRC characteristics are analyzed, and discussed the future direction of auto disturbance rejection control research.