Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, PR China.
ISA Trans. 2015 Sep;58:133-54. doi: 10.1016/j.isatra.2015.05.001. Epub 2015 May 23.
The paper considers the tracking problem for a class of uncertain linear time invariant (LTI) systems with both uncertain parameters and external disturbances. The active disturbance rejection tracking controller is designed and the resulting closed-loop system's characteristics are comprehensively studied. In the time-domain, it is proven that the output of closed-loop system can approach its ideal trajectory in the transient process against different kinds of uncertainties by tuning the bandwidth of extended state observer (ESO). In the frequency-domain, different kinds of parameters' influences on the phase margin and the crossover frequency of the resulting control system are illuminated. Finally, the effectiveness and robustness of the controller are verified through the actuator position control system with uncertain parameters and load disturbances in the simulations.
本文研究了一类具有不确定参数和外部干扰的不确定线性时不变（LTI）系统的跟踪问题。设计了主动干扰抑制跟踪控制器，并综合研究了闭环系统的特性。在时域内，通过调整扩张状态观测器（ESO）的带宽，证明了闭环系统的输出在瞬态过程中可以逼近其理想轨迹，从而克服不同类型的不确定性。在频域内，阐明了各种参数对控制系统相裕度和穿越频率的影响。最后，通过对具有不确定参数和负载干扰的执行器位置控制系统进行仿真，验证了控制器的有效性和鲁棒性。
