【摘要】 针对一类带有多干扰的非线性时变时滞关联系统,考虑了复合抗干扰控制器设计问题.复合抗干扰控制器的设计主要结合了基于干扰观测器的控制方法（Disturbance observer based control,DOBC）和H_∞控制方法.系统受到的干扰可以分为两类:第一类干扰由外部系统描述,并且与控制输入在同一通道;第二类干扰假定满足有界H₂范数.设计干扰观测器估计第一类干扰,并利用干扰估计值进行前馈补偿;利用H_∞控制方法对第二类干扰进行衰减.利用Lyapunov函数理论分析了闭环系统的稳定性,并以线性矩阵不等式的形式给出了可解的时滞依赖条件.最后,利用数值仿真验证了所提方法的有效性.更多还原

【Abstract】 In this paper,the problem of composite anti-disturbance controller design is considered for a class of nonlinear time-varying delay interconnected systems with multiple disturbances.The composite controller is designed combining disturbance observer based control method with H_∞ control scheme.The disturbances are divided into two parts.One part is described by exogenous systems,which imposes on system with control inputs in the same channel.The other part is assumed to be bounded H₂ norm.A disturbance observer is designed to estimate the first case disturbances,and the disturbance estimation value is used for feedforward compensation,and H_∞control method is employed to attenuate the second case disturbances.The stability analysis is developed by Lyapunov function theory.A solvable delay-dependent condition is presented in terms of linear matrix inequality（LMI）.Finally,a numerical example is given to demonstrate the effectiveness of the proposed method.更多还原