论文标题
使用主动干扰拒绝范式跟踪级联干扰控制系统的控制
Tracking control for a cascade perturbed control system using the active disturbance rejection paradigm
论文作者
论文摘要
在本文中，解决了轨迹跟踪任务中闭环级联控制系统的稳定性。所考虑的植物包括基础二阶完全驱动的扰动动力学和描述输入动力学的一阶系统。本文中提出的主要理论结果涉及基于Lyapunov分析提出的稳定条件，用于利用主动排斥扰动方法的级联控制结构。特别是，讨论了对可行的观察者带宽的限制。为了说明闭环控制系统模拟结果的特征。此外，使用两轴望远镜安装座对控制器进行实验验证。获得的结果证实，当需要高跟踪精度时，可以有效地将所考虑的控制策略用于机械系统。
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which describes dynamics of the input. The main theoretical result presented in the paper concerns stability conditions formulated based on the Lyapunov analysis for the cascade control structure taking advantage of the active rejection disturbance approach. In particular, limitations imposed on a feasible set of an observer bandwidth are discussed. In order to illustrate characteristics of the closed-loop control system simulation results are presented. Furthermore, the controller is verified experimentally using a two-axis telescope mount. The obtained results confirm that the considered control strategy can be efficiently applied for mechanical systems when a high tracking precision is required.
