一类中立非线性系统的未知参数谐波扰动补偿

对于一类受到外部未知参数谐波信号干扰下的中立非线性不确定系统,提出了一种基于自适应前馈补偿的控制器设计方法。首先设计非线性观测器将未知扰动估计问题转换为参数辩识问题,并在前馈通道对扰动进行抵消,其次设计具有鲁棒性能的状态反馈控制器来抑制未建模动态,从而在外部扰动和模型参数不确定同时作用下,使系统具有较好的控制性能。对二关节机械臂的仿真证明该方法的有效性。

Compensation of Unknown Harmonic Disturbances for a Class of Nonlinear Neutral System

An adaptive disturbance rejection approach is presented for a class of neutral nonlinear system subject to sinusoidal disturbances with unknown frequencies.At first,we transform the disturbance compensation problem to constant vector identify problem by the construction of nonlinear observer.And then a robust feedback control law is developed to guarantee the desired dynamic performances when disturbances and un-modeled dynamics are in presence simultaneously.Simulations on a two-link robotic manipulator de...