Jiang Hong, Duan Guangren, Hou Mingzhe
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China.
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China; Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen 518055, China.
ISA Trans. 2024 Dec;155:137-147. doi: 10.1016/j.isatra.2024.09.010. Epub 2024 Sep 10.
In this paper, a feedback controller based on the extended state observer is proposed for fully actuated systems. First, a generalized proportional-integral observer is designed to estimate states and disturbances simultaneously. Using the linear parameter varying approach and the convexity principle, a linear matrix inequality condition is given to obtain the observer gains. Second, on the basis of the full-actuation property and the estimated states, a feedback controller, utilizing estimated disturbances to compensate for system disturbances, is designed to make all the states of the closed-loop system uniformly ultimately bounded. In addition, if disturbances are constant or slow time-varying, the observation errors and the states of closed-loop system are all exponentially convergent. Two illustrations are provided to show the validity and practicality of the proposed approach. Simulation results show that the estimated disturbances can follow the true values with relatively small errors, so compensating the system disturbances with estimated values can effectively reduce the ultimate bounds of states of the closed-loop system.
本文针对全驱动系统提出了一种基于扩张状态观测器的反馈控制器。首先，设计了一种广义比例积分观测器，用于同时估计状态和干扰。利用线性参数变化方法和凸性原理，给出了一个线性矩阵不等式条件来获取观测器增益。其次，基于全驱动特性和估计状态，设计了一种利用估计干扰来补偿系统干扰的反馈控制器，以使闭环系统的所有状态一致最终有界。此外，如果干扰是常数或慢时变的，观测误差和闭环系统的状态都将指数收敛。给出了两个示例来说明所提方法的有效性和实用性。仿真结果表明，估计干扰能够以相对较小的误差跟踪真实值，因此用估计值补偿系统干扰可以有效地减小闭环系统状态的最终界。
