For the control problem of uncertain systems with variant large time-delay,variant parameters and distur-bance,a time-delay influence reducing(TDIR)and active disturbance rejection control method(ADRC)is presented.The proposed TDIR-ADRC method integrates feedforward control,feedback control and active disturbance rejection compen-sating control.In order to enhance the system's stability,the system's border model is used in the design of feedforward control and the input of feedback controller is the dynamic weighted sum of the outputs of the system's border model and the real system.In order to enhance the system's control performance,the active disturbance rejection compensating control loop is based on the nominal model,a special compensating controller is designed.The theoretical analysis and simulation research results verify the effectiveness of the proposed TDIR-ADRC methods,the TDIR-ADRC shows nice performance of system output tracking reference input when there exist model parameter and time-delay variation and disturbance.
关键词
大时滞系统/不确定系统/自抗扰控制/滞后时间削弱/补偿控制器
Key words
large time-delay system/uncertain system/active disturbance rejection control/time-delay influence reduc-ing/compensation controller
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