This paper considers one kind of nonlinear uncertain system which is disturbed by general external disturbance generated by an exogenous system. The partial known information of the external disturbance will be efficiently applied to construct an adaptive disturbance observer (DO) for estimating the unknown external disturbance. The nonlinear uncertainties are also considered in this paper, and the fuzzy logic systems are applied to approximate the nonlinear uncertainties. An active disturbance rejection fuzzy controller is designed based on the proposed DO, under which the tracking error will converge to a very small neighborhood of the origin by designing the proper parameters. Moreover, under the disturbance observer-based (DOB) controller, the nonlinear system is anti-disturbance and robust to the uncertainties. The author also proves the effectiveness of the presented approach by the simulation.

本文考虑了一种非线性不确定系统，该系统受到外源系统产生的一般外部干扰的干扰。外部干扰的部分已知信息将有效地用于构建自适应干扰观测器（DO），以估计未知外部干扰。本文还考虑了非线性不确定性，并应用模糊逻辑系统对非线性不确定性进行了近似。基于提出的DO设计了一种主动抗扰度模糊控制器，通过设计适当的参数，跟踪误差将收敛到原点的很小邻域。此外，在基于干扰观测器的控制器下，非线性系统具有抗干扰能力，并且对不确定性具有鲁棒性。