一类非线性严格反馈系统基于干扰观测器的抗干扰控制-控制与决策.PDF

第31 卷 第9 期 控 制 与 决 策 2016 年 9 月 Vol. 31 No. 9 Control and Decision Sep. 2016 文章编号: 1001-0920 (2016) 09-1697-05 DOI: 10.13195/j.kzyjc.2015.0923 一类非线性严格反馈系统基于干扰观测器的抗干扰控制 魏新江, 张玲艳 (鲁东大学数学与统计科学学院，山东烟台264025) 摘 要: 针对一类带有干扰的非线性严格反馈系统, 研究其抗干扰控制问题. 系统干扰满足不匹配条件, 代表一类部 分信息已知的干扰. 通过设计非线性干扰观测器, 提出基于非线性干扰观测器和back-stepping 的抗干扰控制方法来 补偿干扰, 该方法可以保证闭环系统所有信号是半全局最终一致有界的. 最后, 通过与现有方法的对比验证了所提出 方法的正确性和有效性. 关键词: 非线性严格反馈系统；不匹配干扰；干扰观测器；抗干扰控制 中图分类号: TP273 文献标志码: A Anti-disturbance control based on disturbance observer for a class of nonlinear strict-feedback systems WEI Xin-jiang, ZHANG Ling-yan (School of Mathematics and Statistics Science，Ludong University ，Yantai 264025 ，China ．Correspondent ：WEI Xin- jiang ，E-mail ：weixinjiang@163. com) Abstract: Anti-disturbance control problem is studied for a class of nonlinear strict-feedback systems with disturbances. The system disturbances satisfy mismatched condition and represent a class of disturbances with partially-known information. By designing a nonlinear disturbance observer, the nonlinear disturbance observer plus back-stepping(NDOPBS) control strategy is proposed to compensate the disturbances. It is proved that all the signals in the closed-loop system are semi-global uniformly ultimate bounded(SGUUB). Finally, the numerical simulation result demonstrates the correctness and effectiveness of the proposed approach by the comparison with existing methods. Keywords: nonlinear strict-feedback systems ；mismatched disturbances ；disturbance observer ；anti-disturbance control 0 引引引 言言言 线性动态的多输入多输出(MIMO) 非线性系统, 针对 [1]