Design method for curve trajectory tracking controller
A tracking controller and design method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of reducing system robustness, cumbersome processing flow, phase lag, etc., and achieve stable and accurate tracking , to avoid the cumbersome process, to avoid the effect of phase lag
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[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0050] Please refer to figure 1 , the present invention provides a kind of design method of curve track tracking controller, it is characterized in that: comprise the following steps:
[0051] Step S1: Construct a trajectory generator according to the target trajectory signal, and generate a steady state value and an auxiliary control signal corresponding to the state vector of the servo system model;
[0052] Step S2: Incorporate the unknown disturbance of the system into the servo system model as an extended state quantity to obtain an augmented servo system model; design a reduced-order extended state observer based on the augmented servo system model to obtain the original state vector and unknown disturbance of the system estimated value of
[0053] Step S3: design the trajectory tracking control law according to the steady state value and the au...
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