非线性系统基于干扰观测器的抗干扰控制

发布时间：2017-12-28 06:38

本文关键词：非线性系统基于干扰观测器的抗干扰控制　出处：《鲁东大学》2016年硕士论文　论文类型：学位论文

【摘要】：近年来,非线性系统的抗干扰控制问题已经引起学者们的极大关注.作为一种有效的干扰抵消策略,基于干扰观测器的控制(DOBC)得到了广泛地应用.它的基本思想是通过设计干扰观测器来估计干扰,并在前馈通道中予以补偿.目前,关于DOBC应用于非线性系统的研究越来越多.本文针对带有干扰的一般非线性系统,提出了基于干扰观测器的抗干扰控制策略.本文的主要内容如下:1.针对一类带有不匹配干扰的非线性系统,提出了基于干扰观测器的干扰抑制方法.不匹配干扰由外源系统描述,代表一类部分信息已知的干扰.针对此类干扰,设计非线性干扰观测器进行估计.通过整合非线性干扰观测器和back-stepping方法,设计基于干扰观测器的back-stepping(DOPBS)控制器来抑制干扰.此方法可以保证闭环系统满足渐近稳定.最后,在仿真中通过与现有方法的对比,验证所提策略的正确性与有效性.2.研究了一类含有界干扰的非线性系统抗干扰控制问题.系统干扰满足导数有界条件,进一步扩展了干扰的描述范围.为估计此类干扰,设计了相应的非线性干扰观测器.基于back-stepping方法,通过将干扰估计引入到虚拟控制律中,提出了DOPBS控制策略来抑制干扰.对复合闭环系统进行稳定性分析,得到半全局最终一致有界稳定.最后,仿真结果验证所提方法的正确性与有效性.3.研究了一类含未知非线性动态和有界干扰的非线性系统,系统的描述范围得到了进一步扩展.通过设计相应的模糊逻辑系统对未知非线性函数进行逼近.在此基础上,构建自适应干扰观测器来估计导数有界干扰.基于干扰估计,结合back-stepping方法,设计自适应模糊控制器来抑制干扰,并提出了基于干扰观测器的自适应模糊控制策略.在该方法下,复合闭环系统的半全局最终一致有界稳定性得到保证.最后,给出仿真算例,验证所提策略的正确性与有效性.
[Abstract]:In recent years, the anti disturbance control problems of nonlinear systems has attracted great attention of scholars. As an effective interference cancellation scheme, control based on disturbance observer (DOBC) has been widely used. Its basic idea is through the design of disturbance observer to estimate the disturbance, and compensation in the feedforward channel at present. And more and more research on the application of DOBC in nonlinear systems. The nonlinear systems with disturbances, the proposed anti-jamming control strategy based on disturbance observer. The main contents of this paper are as follows: 1. for a class of nonlinear systems with mismatched disturbance. The proposed interference suppression method based on disturbance observer. The description does not match the interference by exogenous system, interference represents a class of some known information. In view of such interference, design a nonlinear disturbance observer estimation. Through the integration of non line stem Disturbance observer and back-stepping method, a disturbance observer is designed based on back-stepping (DOPBS) controller to suppress interference. This method can guarantee that the closed-loop system satisfies the asymptotic stability. Finally, in the simulation, compared with existing methods, strategies for the correctness and validity of the.2. of a class of nonlinear systems with bounded disturbances of the anti disturbance control problem this system meet the interference verification. Derivative of bounded conditions, further expansion of the interference range. In order to estimate the description of such interference, the nonlinear disturbance observer is designed. Based on the back-stepping method, the interference estimation is introduced into the virtual control law, the DOPBS control strategy is proposed to suppress interference. To analyze the stability of the composite closed-loop system get, the semi global uniform ultimate boundedness stability. Finally, the simulation results verify the correctness of the method and effectiveness of.3. is studied for a class of With unknown nonlinear dynamics and nonlinear system with bounded disturbance, the system described has been further extended. The fuzzy logic system designed to approximate the unknown nonlinear function. Based on this, to construct an adaptive disturbance observer to estimate the derivative of bounded disturbance. Based on disturbance estimation, combining back-stepping method, fuzzy controller to suppress interference the design of adaptive, and put forward the fuzzy adaptive control strategy based on disturbance observer. In this method, the composite semi global uniform ultimate boundedness of the closed-loop system stability is guaranteed. Finally, a simulation example, validate the correctness and effectiveness of the strategy.
【学位授予单位】：鲁东大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：O231

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