一种两相幂次吸引律离散时间控制方法

针对一类不确定离散时间系统,提出一种新型两相幂次吸引律.在吸引律设计中,通过将跟踪误差收敛过程划分为两个不同阶段,增加误差收敛幅度并提高误差收敛速度.构造离散形式的扩张状态观测器有效补偿系统干扰,基于观测值设计两相幂次形式的离散时间控制器,提高系统鲁棒性并减小稳态误差.此外,推导出跟踪误差绝对吸引层和稳态误差带的具体表...

A two-phase power attracting law based discrete-time control

In this paper, a novel two-phase power attracting law based control scheme is proposed for a class of uncertain discrete-time systems. In the design of the attracting law, the convergence process of the tracking error is divided into two different stages, such that the amplitude of each convergence step and the error convergence speed can be both improved. An extend state observer is constructed to effectively compensate for system disturbances, and a discrete-time controller with two-phase power is presented to improve the system robustness and reduce the steady-state error. In addition, the steady-state error band, the attractive layer and the maximum step size of the tracking error converging into the steady-state error band are respectively derived to characterize both the steady-state and transient performance. Finally, simulation results show effectiveness of the proposed scheme.