| 引用本文: | 陈志翔,高钦和.自适应扩张状态观测器收敛性分析与应用[J].控制理论与应用,2018,35(11):1697~1702.[点击复制] |
| CHEN Zhi-xiang,GAO Qin-he.Convergence analysis and application of adaptive extended state observer[J].Control Theory and Technology,2018,35(11):1697~1702.[点击复制] |
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| 自适应扩张状态观测器收敛性分析与应用 |
| Convergence analysis and application of adaptive extended state observer |
| 摘要点击 2623 全文点击 1425 投稿时间：2018-02-01 修订日期：2018-08-09 |
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| DOI编号 10.7641/CTA.2018.80092 |
| 2018,35(11):1697-1702 |
| 中文关键词 自抗扰控制 扩张状态观测器 线性时变系统 峰化现象 收敛性分析 |
| 英文关键词 active disturbance rejection control extended state observer time-varying systems peaking value convergence analysis |
| 基金项目 国家自然科学基金项目(51475462)资助. |
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| 中文摘要 |
| 为了实现自适应扩张状态观测器理论分析的简洁和工程应用的直观, 本文提出了一种自适应扩张状态观测
器(adaptive extended state observer, AESO), 并给出了收敛性证明过程. 然后, 将其应用到直线电机伺服系统中, 设计了
基于AESO的PD控制器. 实验结果表明, 提出的AESO可以准确估计系统的状态和受到的干扰, 并且可以消除高增益线
性扩张状态观测器固有的峰化现象, 同时还验证了设计的观测器–控制器的有效性. |
| 英文摘要 |
| In order to realize the simplicity of the theoretical analysis of the adaptive extended state observer and the
intuition of the engineering application, we propose a type of adaptive extended state observer (AESO) in this paper and
give the convergence proof. Then, we apply it to the linear motor servo system and design the PD controller based on
AESO. The experimental results show that the proposed AESO can accurately estimate the state and disturbance of the
system, and eliminate the peaking phenomenon of the high-gain linear extended state observer. Meanwhile, it also verifies
the effectiveness of the observer-based controller. |