ABSTRACT

In this paper, an extended filtered high-gain output feedback controller is developed for a class of uncertain nonlinear systems subject to external disturbances. The design philosophy of the extended filtered high-gain output feedback controller is that the extended state observer (ESO), high-gain and low-pass filter are integrated together. The ESO can not only estimate the unknown internal state, but also deliver a good property of disturbance rejection simultaneously due to the presence of high gain. Since the high gain deteriorates the robustness of the system, a low-pass filtering mechanism is added in the control law to filter away aggressive signals and recover the robustness. The filtered control law is designed to compensate the nonlinear uncertainties and deliver a good tracking performance with guaranteed robustness. The uniform performance bounds are derived for the states and control signals via comparison with the virtual reference system.

摘要

本文针对一类受外部扰动影响的不确定非线性系统，开发了一种扩展滤波高增益输出反馈控制器。扩展滤波高增益输出反馈控制器的设计理念是将扩展状态观测器（ESO）、高增益和低通滤波器集成在一起。ESO 不仅可以估计未知的内部状态，而且由于存在高增益，还可以同时提供良好的抗干扰特性。由于高增益会降低系统的鲁棒性，因此在控制律中增加了低通滤波机制，以滤除攻击性信号并恢复鲁棒性。滤波控制律旨在补偿非线性不确定性，并在保证鲁棒性的情况下提供良好的跟踪性能。