| 引用本文: | 张特,李世尧,朱波.内外不确定因素同时估计与补偿的鲁棒分布式跟踪控制[J].控制理论与应用,2021,38(7):1033~1042.[点击复制] |
| ZHANG Te,LI Shi-yao,ZHU Bo.Robust distributed tracking control with simultaneous estimation and compensation of internal and external uncertainties[J].Control Theory and Technology,2021,38(7):1033~1042.[点击复制] |
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| 内外不确定因素同时估计与补偿的鲁棒分布式跟踪控制 |
| Robust distributed tracking control with simultaneous estimation and compensation of internal and external uncertainties |
| 摘要点击 2019 全文点击 664 投稿时间：2020-10-14 修订日期：2021-07-08 |
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| DOI编号 10.7641/CTA.2021.00701 |
| 2021,38(7):1033-1042 |
| 中文关键词 分布式控制 不确定与干扰估计器 扩张状态观测器 跟踪控制 同时补偿 |
| 英文关键词 distributed control uncertainty and disturbance estimator extended state observer tracking control simultaneous compensation |
| 基金项目 国家自然科学基金项目(61773095, 61973327)资助. |
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| 中文摘要 |
| 本文研究了多运动体系统中领航者(leader)和跟随者(follower)同时受扰条件下的跟踪控制问题. 针对3–
DOF直升机模型的角度轨迹协同跟踪任务, 设计并验证了基于跟随者不确定因素和外部领航者干扰同时补偿的分
布式鲁棒算法. 分别通过不确定与干扰估计器和扩张状态观测器实现对内外扰动的估计与补偿, 恢复了标称系统的
跟踪性能. 证明了闭环估计误差和跟踪误差的最终界大小与估计器核心参数值的单调关系, 同时给出了系统实现渐
近跟踪的条件. 利用数字仿真实验和“虚实结合”实验验证了内外干扰同时补偿的必要性和参数调节机制的有效
性. |
| 英文摘要 |
| This paper investigates the tracking control problem of a class of multi vehicle systems suffering from internal
disturbance of the leader and external disturbance of the follower. Taking the angle trajectory cooperative tracking problem
of a network of nonlinear 3–DOF helicopters as an example, a distributed robust algorithm is designed and verified, which
is based on the simultaneous estimation and compensation of the uncertainties acting on the leader and followers. By an
uncertainty and disturbance estimator and an extended state observer respectively, the estimation and compensation of input
disturbances are realized to recover the tracking performance of a nominal system. It is proved that the ultimate bounds of
tracking errors and closed-loop estimation errors depend monotonically on two key design parameters of the estimators, and
the condition for asymptotic tracking is derived. The effectiveness of the parameter-tuning mechanism and the necessity of
compensating both the internal and external disturbances for followers are demonstrated by a simulation comparison on a
system including four virtual helicopter models and by an experimental comparison on a system including both virtual and
real helicopter models. |