【作者】 黄一； 薛文超； 杨晓霞；

【Author】 HUANG Yi,XUE Wenchao,YANG Xiaoxia Key Lab.Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190

【机构】 中国科学院数学与系统科学研究院系统控制重点实验室；

【摘要】 实际控制系统中普遍存在着内部不确定性(参数和未建模动态)和外部不确定性(扰动),因此不确定性系统的控制向来是一个富有挑战性的基本问题.文章首先从不确定系统控制的角度,对现代控制理论中的主要相关方法:自适应控制,鲁棒控制,基于扰动估计的控制方法以及自抗扰控制方法等从各自所研究问题的不同角度进行梳理;然后讨论关于自抗扰控制的几个主要部分的理论分析问题:跟踪微分器的理论分析,扩张状态观测器对扰动的估计能力分析,自抗扰控制闭环系统稳定性分析;最后讨论自抗扰控制方法如何在具体问题中灵活运用.更多还原

【Abstract】 Uncertainties widely exist in practice.This is one of the main reasons why control of systems with uncertainties is always a fundamental and challenging issue.Basically,the uncertainties stem from two sources:internal(parameter or unmodeled dynamics)uncertainties and external(disturbance)uncertainties.The paper first reviews the methods in the modern control theory,which were proposed for controlling of uncertain systems.These methods include the adaptive control,robust control,disturbance observers based control methods,output regulator theory for uncertain systems,active disturbance rejection control(ADRC),etc.Then the process of theoretical analysis for ADRC,mainly the convergence of the tracking differentiator(TD),the capabilities of the extended state observer(ESO)for estimating uncertainties and the closed-loop stability of ADRC,is introduced.Finally,some keys in the application of ADRC are discussed.更多还原