Variable structure active disturbance rejection control for a class of underactuated systems
In order to improve the control accuracy and disturbance resistance of a class of underactuated systems,a variable structure active disturbance rejection control strategy is proposed.Firstly,a new type of qal function was constructed to solve the problem of chattering and large error gain caused by traditional nonlinear functions not being smooth enough at the origin.Secondly,two linear tracking differentiators were designed to accurately track the real-time signals and reference signals of the displacement and velocity of the underactuated inverted pendulum system.Based on a novel nonlinear qal function,an improved extended state observer with good observation performance was designed to estimate the output angle and angular velocity of the underactuated system in real time.Then,a linear control rate was designed to combine the two outputs into a control variable,achieving good control of the two outputs.Finally,experiments were conducted on the control motor of underactuated systems and the inverted pendulum of underactuated systems,and the experimental results were compared and analyzed with traditional active disturbance rejection control and differential evolution algorithm ADRC,verifying the superiority and feasibility of the variable structure active disturbance rejection control method for underactuated systems.
underactuated systemsactive disturbance rejection controlnew nonlinear functionsimproved extended state observer
NETL
NSTL
万方数据
