基于改进型自抗扰控制的欠驱动系统控制

doi:10.1007/s12204-024-2703-6

摘要/Abstract

摘要： 为了实现对一类欠驱动系统高精度、响应速度快、稳定性好的控制效果，设计了一种基于改进型自抗扰控制器的控制策略。首先，根据新的滑模趋近率设计了新的滑模跟踪微分器。考虑到传统的自抗扰控制只适用于单输入单输出系统，在该模型中使用两个滑模跟踪微分器分别获得给定位移和速度以及实际位移和速度。然后，设计了一种新的非线性函数，增强了平滑性和收敛性。利用非线性函数，设计了改进的欠驱动系统扩张状态观测器，优化了欠驱动系统的跟随误差能力。考虑到控制率部分参数值难以调节，采用粒子群优化算法对控制率部分的4个参数值进行优化。最后，仿真结果表明，所提出的控制策略能够实现对此类欠驱动系统的快速稳定控制。

关键词: 自抗扰控制, 非线性函数, 改进型扩张状态观测器

Abstract: To achieve the control effect of high precision, fast response speed, and good stability for a class of underactuated systems, a control strategy based on the improved active disturbance rejection controller is designed. First, a new sliding mode tracking differentiator is designed on the basis of a new sliding mode reaching rate. Given that traditional active disturbance rejection control is only suitable for single-input and single-output systems, two sliding mode tracking differentiators are used in the proposed model to obtain the given displacement and velocity as well as the actual displacement and velocity, respectively. Then, a new nonlinear function with enhanced smoothness and convergence is designed. Using the nonlinear function, an improved extended state observer for the underactuated system is designed to optimize its following error ability. Given that the parameter values of the control rate part are difficult to adjust, the particle swarm optimization algorithm is used to optimize the four parameter values of the control rate part. Finally, the simulation results show that the proposed control strategy can realize a fast and stable control of such underactuated systems.

中图分类号:

TP273

. 基于改进型自抗扰控制的欠驱动系统控制[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 428-439.

Chen Qiuzhuo, Zhu Biao, Ma Lixiang, Liu Bingyou, Wan Luanfei. Underactuated System Control Based on Improved Active Disturbance Rejection Control[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 428-439.

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