欠驱动RTAC的滑模自抗扰镇定控制

来源 :控制理论与应用 | 被引量 : 0次 | 上传用户：re_man

【摘要】

：

针对欠驱动RTAC(rotational/translational actuator)的镇定问题,提出了一种滑模自抗扰控制方法,通过对总扰动的观测和补偿降低了未知扰动对RTAC的影响.为克服RTAC的欠驱动特性,所提方法通过将可驱动的摆球角度和无驱动的小车位置两个状态相结合,构建出虚拟被控量作为系统输出,从而使RTAC的动力学模型转换为非欠驱动模型.基于重建的模型设计线性扩张状态观测器(linear extended state observer,LESO)和滑模控制器,并采用Lyapunov方法证明R

【作者】

：

檀盼龙秦华阳孙明玮刘俊杰孙青林陈增强

【机构】

：

南开大学人工智能学院,天津300350;天津理工大学电气电子工程学院,天津300384

【出处】

：

控制理论与应用

【发表日期】

：

2021年12期

【关键词】

：

自抗扰控制欠驱动系统旋转激励平移振荡器滑模控制

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欠驱动RTAC的滑模自抗扰镇定控制

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