一种基于反推技术和ESO补偿的解耦控制方法

针对一类非线性多入多出系统,设计了一种新的解耦控制器.首先采用反推技术设计每一个子系统的等效输入;然后用扩张状态观测器(ESO)对各个子系统的耦合、外扰和参数时变等不确定作用进行动态估计,并把估计值引入到反推控制器中进行补偿,最终实现解耦和摔制.利用Lyapunov稳定性理论证明了该方法的收敛性;数例仿真表明了该方法可获得较快的响应速度及较好的解耦效果和鲁棒性.

Decoupling control method based on backstepping control and ESOcompensation

For a class of nonlinear MIMO system, a novel decoupling control method is proposed. Firstly, equivalent
input of each subsystem is designed by using backstepping method. Then, the total uncertainties, including coupling effect,
external disturbance and parameter time-varying of each subsystem, are estimated by an extended state observer(ESO), and
the estimate is introduced into the backstepping controller to compensate. Finally, decoupling and control are achieved. The
convergence of the new method is proved by using Lyapunov stability theory. Simulation result shows that the method can
achieve fast response, good decoupling effect and good robustness.