基于扩张状态观测器的板球系统误差反步控制

为提高板球系统的轨迹跟踪精度和抗干扰能力，提出了一种基于扩张状态观测器的误差反步控制策略。首先设计扩张状态观测器，估计出系统受到的不确定扰动。然后将观测出来的平板转角和角速度状态变量与反步法相结合，设计出带有低通滤波性能的误差反步控制器。实验结果表明，所设计的控制器具有良好的轨迹跟踪性能，验证了该控制策略的有效性。

Error Backstepping Control for Ball and Plate System Based on Extended State Observer #br#

In order to improve the trajectory tracking accuracy of the ball and plate system and enhance the system disturbance-rejection performance, an error backstepping control scheme under the extended state observer was studied. Firstly, an extended state observer to estimate the system's uncertain disturbance was designed. Secondly, an error backstepping controller with low-pass filter performance was designed by combining the observed state variables of the angle and the plate velocity with the error backstepping method. The experiment results show that the proposed controller has good trajectory tracking performance, and the effectiveness of the proposed control strategy was verified.