变论域自适应模糊分数阶自抗扰控制器设计

提出了一种变论域自适应模糊分数阶自抗扰控制算法，用以提高分数阶系统的性能；在变论域自适应模糊控制的设计中，引入分数阶扩张状态观测器和分数阶跟踪微分器；在变论域自适应模糊分数阶自抗扰控制中，利用分数阶跟踪微分器将输入信号转化为平滑跟踪和高质量差分信号，用扩张状态观测器获取每个状态变量的估计值、不确定性的实时动态模型以及外部扰动．为了消除稳态误差，提高控制精度，提出了可变值域的扩张状态误差积分；将变论域自适应模糊分数阶自抗扰控制算法和分数阶自抗扰控制 (FADRC)算法对典型的分数阶系统进行仿真，验证了所提方案的优越性和有效性． 

Design of variable universe adaptive Fuzzy fractional-order active disturbance rejection controller

A variable universe adaptive,Fuzzy fractional-order, active disturbance rejection control algorithm is proposed to improve control performance of fractional-order systems．In the design of variable universe adaptive Fuzzy control, a fractional-order extended state observer and a fractional-order tracking differentiator are introduced．In variable universe adaptive, Fuzzy fractional-order, active disturbance rejection control, the input signal is transformed into smooth tracking signal and high-quality differential signal by tracking differentiator．The estimated value of each state variable, real-time dynamic model of uncertainty and external disturbance are acquired by extended state observer．To eliminate steady-state error and improve control precision, an extended state error integral of variable range is proposed．Finally, variable universe adaptive, Fuzzy fractional-order, active disturbance rejection algorithm and fractional active disturbance rejection control (FADRC) algorithm are used to simulate a typical fractional-order system; the superiority and effectiveness of the proposed scheme are verified．