本文關(guān)鍵詞：非線(xiàn)性系統(tǒng)基于干擾觀測(cè)器的抗干擾控制　出處：《魯東大學(xué)》2016年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 非線(xiàn)性系統(tǒng) 基于干擾觀測(cè)器的控制 自適應(yīng)模糊控制 back-stepping方法 抗干擾控制

【摘要】：近年來(lái),非線(xiàn)性系統(tǒng)的抗干擾控制問(wèn)題已經(jīng)引起學(xué)者們的極大關(guān)注.作為一種有效的干擾抵消策略,基于干擾觀測(cè)器的控制(DOBC)得到了廣泛地應(yīng)用.它的基本思想是通過(guò)設(shè)計(jì)干擾觀測(cè)器來(lái)估計(jì)干擾,并在前饋通道中予以補(bǔ)償.目前,關(guān)于DOBC應(yīng)用于非線(xiàn)性系統(tǒng)的研究越來(lái)越多.本文針對(duì)帶有干擾的一般非線(xiàn)性系統(tǒng),提出了基于干擾觀測(cè)器的抗干擾控制策略.本文的主要內(nèi)容如下:1.針對(duì)一類(lèi)帶有不匹配干擾的非線(xiàn)性系統(tǒng),提出了基于干擾觀測(cè)器的干擾抑制方法.不匹配干擾由外源系統(tǒng)描述,代表一類(lèi)部分信息已知的干擾.針對(duì)此類(lèi)干擾,設(shè)計(jì)非線(xiàn)性干擾觀測(cè)器進(jìn)行估計(jì).通過(guò)整合非線(xiàn)性干擾觀測(cè)器和back-stepping方法,設(shè)計(jì)基于干擾觀測(cè)器的back-stepping(DOPBS)控制器來(lái)抑制干擾.此方法可以保證閉環(huán)系統(tǒng)滿(mǎn)足漸近穩(wěn)定.最后,在仿真中通過(guò)與現(xiàn)有方法的對(duì)比,驗(yàn)證所提策略的正確性與有效性.2.研究了一類(lèi)含有界干擾的非線(xiàn)性系統(tǒng)抗干擾控制問(wèn)題.系統(tǒng)干擾滿(mǎn)足導(dǎo)數(shù)有界條件,進(jìn)一步擴(kuò)展了干擾的描述范圍.為估計(jì)此類(lèi)干擾,設(shè)計(jì)了相應(yīng)的非線(xiàn)性干擾觀測(cè)器.基于back-stepping方法,通過(guò)將干擾估計(jì)引入到虛擬控制律中,提出了DOPBS控制策略來(lái)抑制干擾.對(duì)復(fù)合閉環(huán)系統(tǒng)進(jìn)行穩(wěn)定性分析,得到半全局最終一致有界穩(wěn)定.最后,仿真結(jié)果驗(yàn)證所提方法的正確性與有效性.3.研究了一類(lèi)含未知非線(xiàn)性動(dòng)態(tài)和有界干擾的非線(xiàn)性系統(tǒng),系統(tǒng)的描述范圍得到了進(jìn)一步擴(kuò)展.通過(guò)設(shè)計(jì)相應(yīng)的模糊邏輯系統(tǒng)對(duì)未知非線(xiàn)性函數(shù)進(jìn)行逼近.在此基礎(chǔ)上,構(gòu)建自適應(yīng)干擾觀測(cè)器來(lái)估計(jì)導(dǎo)數(shù)有界干擾.基于干擾估計(jì),結(jié)合back-stepping方法,設(shè)計(jì)自適應(yīng)模糊控制器來(lái)抑制干擾,并提出了基于干擾觀測(cè)器的自適應(yīng)模糊控制策略.在該方法下,復(fù)合閉環(huán)系統(tǒng)的半全局最終一致有界穩(wěn)定性得到保證.最后,給出仿真算例,驗(yàn)證所提策略的正確性與有效性.
[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.
【學(xué)位授予單位】：魯東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：O231

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本文編號(hào)：1344986