研究了线性扩张状态观测器(Extended state observer,ESO)的估计能力,并且分析了在线性自抗扰控制(Linearactive disturbance rejection control,LADRC)下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的...研究了线性扩张状态观测器(Extended state observer,ESO)的估计能力,并且分析了在线性自抗扰控制(Linearactive disturbance rejection control,LADRC)下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的证明,并通过分析得出了如下结论:在扩张状态观测器跟踪误差趋于零的前提下,在线性自抗扰控制下的闭环系统可以实现对设定信号的精确跟踪以及输入-输出有界(Bounded input and bounded output,BIBO)稳定.展开更多
This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-fo...This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-forward compensation active disturbance rejection control(FFC-ADRC) approach is proposed. It combines advantages of the Smith predictor and the traditional active disturbance rejection control(ADRC). The tracking differentiator(TD) is designed to predict the control signal, which adds an anticipatory control to the control signal and allows a higher observer bandwidth to obtain better disturbance rejection. The modified extended state observer(ESO) is designed to estimate both system states and the total disturbances(internal disturbance, uncertainties and delayed disturbance). Then the Lyapunov theory and the theory of the input-output stability are applied to prove the asymptotic stability of the closed-loop control system. Finally, numerical simulations show the effectiveness and practicality of the proposed design.展开更多
文摘研究了线性扩张状态观测器(Extended state observer,ESO)的估计能力,并且分析了在线性自抗扰控制(Linearactive disturbance rejection control,LADRC)下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的证明,并通过分析得出了如下结论:在扩张状态观测器跟踪误差趋于零的前提下,在线性自抗扰控制下的闭环系统可以实现对设定信号的精确跟踪以及输入-输出有界(Bounded input and bounded output,BIBO)稳定.
基金supported by the National Natural Science Foundation of China(61304026)
文摘This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-forward compensation active disturbance rejection control(FFC-ADRC) approach is proposed. It combines advantages of the Smith predictor and the traditional active disturbance rejection control(ADRC). The tracking differentiator(TD) is designed to predict the control signal, which adds an anticipatory control to the control signal and allows a higher observer bandwidth to obtain better disturbance rejection. The modified extended state observer(ESO) is designed to estimate both system states and the total disturbances(internal disturbance, uncertainties and delayed disturbance). Then the Lyapunov theory and the theory of the input-output stability are applied to prove the asymptotic stability of the closed-loop control system. Finally, numerical simulations show the effectiveness and practicality of the proposed design.
