引用本文:马国耀,蒋奇,宗西举.具有边界扰动的不确定Euler-Bernoulli梁方程输出反馈控制[J].控制理论与应用,2023,40(8):1369~1376.[点击复制]
MA Guo-yao,JIANG Qi,ZONG Xi-ju.Output feedback control for an uncertain Euler-Bernoulli beam equation with boundary disturbances[J].Control Theory and Technology,2023,40(8):1369~1376.[点击复制]
具有边界扰动的不确定Euler-Bernoulli梁方程输出反馈控制
Output feedback control for an uncertain Euler-Bernoulli beam equation with boundary disturbances
摘要点击 2109  全文点击 247  投稿时间：2022-04-25  修订日期：2023-03-30
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DOI编号  10.7641/CTA.2022.20311
  2023,40(8):1369-1376
中文关键词  Euler-Bernoulli梁  扰动观测  边界输出反馈  指数稳定
英文关键词  Euler-Bernoulli beam  disturbance estimator  boundary output feedback controller  exponential stability
基金项目  国家自然科学基金项目(61973194), 山东省重大科技创新工程项目(2019JZZY010427), 深圳市基础研究与学科布局项目(JCYJ20190806155616366)
作者单位E-mail
马国耀 山东大学控制科学与工程学院 guoyao_ma@163.com 
蒋奇* 山东大学控制科学与工程学院 jiangqi@sdu.edu.cn 
宗西举 济南大学 信息科学与工程学院  
中文摘要
      针对带有边界扰动、内部不确定扰动和外部扰动的Euler-Bernoulli梁方程, 为克服传统扰动观测器引入的高增益及未知扰动导数难以准确求解问题, 本文将主动干扰抑制控制(ADRC)技术应用到Euler-Bernoulli梁方程这个偏微分方程(PDE)系统上, 提出并设计了一种新的在线扰动观测器, 可实时估计扰动值. 依据估计扰动值, 设计了一个边界输出反馈控制器. 仿真结果表明, 本文所提出的方法可很好地实现对内部不确定扰动和外部扰动的估计,配合输出反馈控制器, 可对边界扰动进行有效抑制, 进而实现系统的指数稳定
英文摘要
      For the Euler-Bernoulli beam equation which involves boundary disturbances, internal uncertainties, and external disturbances, the high gain and difficult-to-accurately-solve unknown disturbance derivative problems introduced by traditional perturbation observers need to be overcome. In this paper, active disturbance rejection control (ADRC) technology is applied to the Euler-Bernoulli beam equation, a partial differential equation (PDE) system. A new online disturbance observer is proposed and designed, which can estimate the disturbance values in real-time. Based on the estimated disturbance values, a boundary output feedback controller is designed. The simulation results show that the proposed method can achieve the estimation of internal uncertainty and external disturbance well, and the effective rejection of the boundary disturbance can be achieved with the output feedback controller, and then the exponential stability of the system can be achieved.