Capability Exploration of Extended-State Observer-Based Control Under the Uncertain Case of Disturbance and Actuator Saturation
Capability Exploration of Extended-State Observer-Based Control Under the Uncertain Case of Disturbance and Actuator Saturation
复制标题
DOI：
10.1109/tie.2022.3156167
复制
发表时间：
2023
影响因子：
7.7
通讯作者：
Yongshuai Wang;Minnan Piao;Zengqiang Chen;Mingwei Sun;Qinglin Sun
中科院分区：
文献类型：
--
作者：
Yongshuai Wang;Minnan Piao;Zengqiang Chen;Mingwei Sun;Qinglin Sun
针对一类具有执行器饱和和控制输入不确定性的非线性系统，研究了基于扩展状态自适应控制器的自抗扰控制器在干扰和不确定性存在下的控制性能。首先，在基于扩展状态转移器的控制方案中，利用凸船体处理执行器饱和问题，并利用李雅普诺夫方法得到控制系统在吸引域内的椭球不变集.其次，研究了不变集的扩大问题，说明椭球不变集的凸船体也是扩大不变集。最后，在无刷直流电动机上与现有方法进行了综合比较，结果表明所设计的控制器具有较强的抗干扰能力和执行器饱和能力。结果表明，该控制器的扰动补偿量和性能指标（积分时间、积分绝对误差和积分绝对误差）约为经典比例积分微分（PID）和双积分滑模控制的一半，即抗扰能力约为经典PID和双积分滑模控制的两倍。
Considering a class of nonlinear systems subject to actuator saturation and uncertain control input, this article explored the control capability of an extended-state observer-based active disturbance rejection controller in the presence of disturbances and uncertainties. First, the actuator saturation is handled with the convex hull in the extended-state observer-based control scheme, and an ellipsoid invariant set inside the domain of attraction for control systems is obtained using the Lyapunov method. Second, the enlargement problem of the invariant set is also studied, which illustrates that the convex hull of the ellipsoid invariant sets is also an enlargement invariant set. Finally, comprehensive comparisons with existing methods on a brushless dc motor demonstrate the stronger capability of the designed controller on disturbance rejection and actuator saturation. The results show that the disturbance offset and performance index (integrated time and absolute error and integral absolute error) are about half of the classical proportional–integral–derivative(PID) and double-integral sliding-mode control, or the disturbance rejection capability is about twice in this case.