非线性系统高阶微分反馈控制
1.天津科技大学自动化系,天津 300222
2.南开大学自动化系,天津 300071
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摘要
提出了不依赖系统模型的高阶微分反馈控制思想,控制目标是系统输出及其微分和高阶微分逼近设定输入及其微分和高阶微分,极大地提高了对控制品质要求。基于这种思想设计了能高品质地提取量测信号的微分和高阶微分的高阶微分器(HOD, high order differentiator),该HOD参数少,容易调节,并给出其稳定性、收敛性和滤波特性的证明;另外,对带有未知扰动、模型未知的非线性SISO和MIMO系统分别设计了基于HOD的高阶微分反馈自适应控制器(HODFC, high order differentials feedback adaptive controller),给出了闭环系统稳定性和鲁棒性分析,并且实现了线性化解耦控制。
参考文献
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