基于反步法的板球系统自抗扰控制器设计

针对板球系统中存在的未知扰动、板与球之间的摩擦力等因素影响轨迹跟踪精度这一问题，研究了板球系统的自抗扰控制策略。首先建立板球系统的数学模型，通过适当简化、线性化与解耦得到线性模型；然后采用全程快速微分器对带有噪声干扰的输入信号进行滤波处理，进而设计高阶扩张状态观测器估计系统内部未知扰动；最后基于反步法设计非线性反馈控制器，并利用Lyapunov稳定性理论证明了闭环系统的稳定性。仿真结果表明，改进的自抗扰控制器能够有效滤除噪声干扰，提高了轨迹跟踪精度。

Design of Active Disturbance Rejection Controller for Ball and Plate System based on Backstepping Technique

A high-order ADRC scheme was proposed to deal with the unknown disturbance as well as the friction between the plate and the ball which affect the trajectory tracking accuracy in the ball and plate system. Firstly, the mathematical model of the ball and plate system was established and linear model was obtained by appropriately simplifying, linearization and decoupling. Secondly, the input signal with noise was filtered by the whole process fast differentiator. Thirdly, the high order ESO was designed to estimate the unknown disturbance inside the system. Finally, the nonlinear feedback controller was designed based on backstepping technique and the closed-loop stability is certificated by Lyapunov stability theory. Simulation results show that the improved high order ADRC can effectively filter out the noise and improve the trajectory tracking accuracy.