一类欠驱动MIMO系统集中式自抗扰控制

肖友刚; 朱铖臻; 卢浩; 韩锟

doi:10.21656/1000-0887.390356

一类欠驱动MIMO系统集中式自抗扰控制

doi: 10.21656/1000-0887.390356

肖友刚^1,2,
朱铖臻^1,2,
卢浩^1,2,
韩锟^1,2

¹中南大学交通运输工程学院, 长沙 410075;²轨道交通安全关键技术国际合作联合实验室, 长沙 410075

基金项目: 湖南省科技计划项目（2013GK3004)

详细信息

作者简介:
肖友刚（1970—），教授，博士，博士生导师(通讯作者. E-mail: csuxyg@163.com).

中图分类号: TP273
计量
- 文章访问数: 858
- HTML全文浏览量: 154
- PDF下载量: 197
- 被引次数: 0
出版历程
- 收稿日期: 2018-12-14
- 修回日期: 2020-03-16
- 刊出日期: 2020-11-01

CADRC for a Class of Underactuated MIMO Systems

¹School of Traffic and Transportation Engineering, Central South University, Changsha 410075, P.R.China;²Joint International Research Laboratory of Key Technology for Rail Traffic Safety, Central South University, Changsha 410075, P.R.China

摘要

摘要: 应用广泛的欠驱动多输入多输出系统的控制仍是开放性的难题.将欠驱动系统分为直接驱动部分和间接驱动部分，根据直接驱动部分的当前状态和目标状态，设计直接驱动部分的虚拟控制律；利用统一的扩张状态观测器对间接驱动部分的内扰和外扰进行统一估计，设计虚拟控制律对总和扰动进行补偿，并将直接和间接驱动部分的虚拟控制律有机组合成综合控制律，实现了欠驱动系统的集中控制，并应用Lyapunov方法对算法的稳定性进行了严格的数学证明.整个控制系统结构紧凑、鲁棒性和抗干扰能力强、参数整定容易.
- 欠驱动MIMO系统 /
- 直接驱动部分 /
- 间接驱动部分 /
- 集中式自抗扰控制
Abstract: The control of widely used underactuated multi-input multi-output (UMIMO) systems is still an open challenge. The underactuated system was composed of direct drive parts and indirect drive parts. For the direct drive parts, the virtual feedback control laws were designed according to their current states and target states; for the indirect drive parts, the inner uncertainties and external disturbances were estimated through the designed linear extended state observer (ESO), and the virtual feedback control laws were designed to compensate the lumped disturbances in real time. All the virtual control laws were integrated into the comprehensive control law to realize the centralized active disturbance rejection control (CADRC) of the underactuated system, and the stability of the algorithm was strictly proved with the Lyapunov method. Test results indicated that, the whole control system is compact, robust and actively disturbance-rejected, and the control gains are easy to be tuned.
- underactuated MIMO system /
- direct drive part /
- indirect drive part /
- centralized active disturbance rejection control

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参考文献(20)

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