引用本文: 谭永宏,曾喆昭.基于弹性能量函数的非线性不确定系统控制方法[J].控制与决策,2019,34(6):1247-1252
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 本文已被：浏览 127次   下载 150次 码上扫一扫！ 分享到： 微信 更多 字体:加大+|默认|缩小- 基于弹性能量函数的非线性不确定系统控制方法 谭永宏1, 曾喆昭2 (1. 湖南科技学院电子与信息工程学院，湖南永州425199;2. 长沙理工大学电气与信息工程学院，长沙410076)

DOI：10.13195/j.kzyjc.2017.1545

Nonlinear uncertain system control method based on elastic energy function
TAN Yong-hong1,ZENG Zhe-zhao2
(1. School of Electronics and Information Engineering, Hu'nan University of Science and Engineering,Yongzhou 425199,China;2. College of Electric and Information Engineering,Changsha University of Science and Technology,Changsha410076, China)
Abstract:
For the control problem of a nonlinear uncertain system, a disturbance observation method and an elastic tracking control method are proposed based on the elastic energy function. The elastic energy function is applied to design the disturbance observer, virtual tracking instruction and elastic tracking controller, respectively, as the core technology. The prominent advantage of the proposed control method is only according to the error to eliminate the error, does not involve the differential operators of the error, and the controller gain parameters are determined completely by the integral step. Theory research show that the proposed elastic tracking control method not only guarantees the stability of various sub-controller theoretically, and effectively solves the control problem of higher-order SISO nonlinear uncertain systems, but also effectively avoids the differential explosion problem of the back stepping control method. In addition, each sub-controller has only one gain parameter which can be tunned by the integral step, so the controller has simple structure and small calculation. Simulation results show that the proposed elastic tracking control method not only has fast response speed, high control precision and strong ability to resist disturbance, but also is not dependent on the controlled object model, therefore has wide application prospect in the field of nonlinear uncertain systems control.
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