基于扩张状态观测器的动态抗饱和补偿器设计方法

针对一类受外界扰动以及执行器饱和影响的不确定非线性系统,提出一种基于扩张状态观测器的动态抗饱和补偿器设计方法.首先通过将系统的不确定项以及外部扰动作为扩张状态,设计线性扩张状态观测器(ESO)对系统的总扰动进行估计;然后,在控制器中引入对扩张状态的估计值,对系统的总扰动进行补偿,设计了动态抗饱和补偿器,将控制器、观测器以及动态抗饱和补偿器的参数求解问题转化为基于LMI不等式组约束的优化问题,确保系统具有尽可能大的收敛域;最后通过数值仿真验证所提出设计方法的有效性.

Dynamic anti-windup compensator design based on ESOs

A dynamic anti-windup compensator design method is proposed for a class of nonlinear systems subject to actuator saturation and external disturbance based on extended state observers(ESOs). Uncertainty and external disturbance of the system are treated as extended state, and the corresponding ESO is designed to estimate the total disturbance. Then, total disturbance is compensated in the controller by introducing the estimate of extend state, and a dynamic anti-windup compensator design method is presented. The problem of parameter tuning of the controller, observer and dynamic anti-windup compensator is translated into the problem of optimization with linear matrix inequalities constraint, which maximizes the estimate of domain of attraction. A numerical example is given to illuztrate the effectiveness of the proposed method.