ADRC Design Method Based on Finite Time Extended State Observer
A technology of active disturbance rejection controller and extended state observation, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of improving fast convergence
Active Publication Date: 2019-02-12
TIANJIN UNIV
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There is no literature so far that deals with the design of ADRCs combining finite-time observers with extended state observers
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[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described from several aspects such as the establishment of the extended state observer, the design principle, and the solution method, and the following specific design methods are used to explain the present invention. But it is not limited to the present invention.
[0032] The design method of ADRC controller based on finite time extended state observer, the specific steps are as follows:
[0033] 1) Establish a third-order finite-time extended state observer:
[0034] Consider any single-input single-output system can be written as follows:
[0035] the y (n) (t)=f(y (n-1) ,...,y,w,t)+bu
[0036] Where y is the controlled output, u is the control input, t is the time, b is the influence of the control input on the output, f(y (n -1) ,...,y,w,t) contains the internal uncertainty of the system and the external disturbance w, wh...
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The invention belongs to the field of controller design, and is used for allowing tracking error of an observer to be converged to an original point within finite time. According to auto-disturbance-rejection controller design, a classic third-order finite extended-state observer serves as an example, and when the classic third-order finite extended-state observer meets the property of finite-time convergence, the parameters of the observer are solved. It should be understood that for other-order finite-time extended-state observers, parameters can be similarly solved with the method. According to the technical scheme, a method of an auto-disturbance-rejection controller based on the finite-time extended-state observer includes the specific steps that 1, the third-order finite-time extended-state observer is built; 2, for the extended-state observer, the parameter of the extended-state observer is solved; 3, disturbance feedback u is designed, wherein u=(u<0>-z<3>) / b, and z<3>=f (y,w,t), and the system is approximated as a second-order integrator series type. The auto-disturbance-rejection controller design is mainly applied to the controller design occasion.
Description
technical field [0001] The invention belongs to the field of controller design, and in particular relates to a finite time expansion state observer and a method for designing an active disturbance rejection controller in combination with disturbance feedback and state feedback. Background technique [0002] As a new control theory, Active Disturbance Rejection Control (ADRC) has developed rapidly in dealing with uncertain practical engineering application systems. Active disturbance rejection control has three important components: tracking differentiator, extended state observer and linear or nonlinear state feedback. Active disturbance rejection controller inherits the advantages of classical control theory and modern control theory, and can dynamically suppress disturbance without relying on specific mathematical models. By designing an extended state observer to estimate the unknown disturbance of the system and feedback compensation, and then through simple proportiona...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 左志强吴栋王一晶
Owner TIANJIN UNIV