【摘要】 针对一类含有不匹配扰动和未知函数的非严格反馈非线性系统，设计一种模糊补偿控制器，并改进有限时间扰动观测器设计。将未知函数逼近误差和外界扰动作为系统总扰动信号，利用有限时间扰动观测器对系统不匹配总扰动进行精确观测，并在反步法虚拟信号设计中进行扰动补偿，以简单的结构和少量的计算代价实现系统快速抗干扰性能。采用有限时间滑模微分器解决由反步法设计所带来的计算复杂膨胀问题。通过Lyapunov稳定性分析证明闭环系统所有信号都是有界的，并在连续搅拌式反应釜仿真中进一步验证了所提出方法的有效性和实用性。更多还原

【Abstract】 In the paper, a fuzzy compensation control design method was presented for a class of non-strict feedback nonlinear system with mismatched disturbance and unknown functions, and finite time disturbance observer was improved. Taking the unknown function approximation error and external disturbance as the total disturbance signal of the system, the finite time disturbance observer was used to accurately observe the mismatched total disturbance of the system, and the disturbance compensation was carried out in the backstepping virtual signal design to realize the fast anti-interference performance of the system with simple structure and a small amount of calculation cost. Finite time convergence differentiator(FTCD) was adopted to solve the shortcoming of the explosion of terms caused by backstepping. Lyapunov stability analysis proved that all signals of the closed-loop system were bounded, and the effectiveness and practicability of the proposed method was further verified in continuous stirred tank reactors(CSTRs) system.更多还原