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首页> 外文会议>IEEE International Conference on Intelligent Computing and Intelligent Systems;ICIS 2009 >Cascade control with low order active disturbance rejection controller for higher order nonlinear cascade system
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Cascade control with low order active disturbance rejection controller for higher order nonlinear cascade system

机译：高阶非线性级联系统的低阶有源抗扰控制器的级联控制

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摘要

Aiming at a class of higher order, strong coupling, uncertainty nonlinear systems such as ball and plate system, a cascade control strategy with low order active disturbance rejection control (ADRC) is proposed when the nonlinear system is converted into cascade system of several low order nonlinear systems. The difficulty of parameter setting with higher order ADRC is resolved through this strategy. Because the disturbance and coupling are treated as an additional state variable, which is then estimated and compensated for in real time through the ESO of low order ADRC, the problems of uncertain, nonlinear, coupling and disturbance rejection are all solved. At the same time, the simulation studies of ESO and trajectory tracking with ball and plate system are made to verify the effectiveness of the strategy which is proposed. The results of simulation experiments indicate that the proposed strategy has better dynamic, robust characteristics aiming at the higher order, complicated nonlinear plant.
机译：针对一类高阶，强耦合，不确定性的非线性系统，如球盘系统，提出了一种将低阶主动扰动抑制控制（ADRC）转化为几个低阶级联系统的级联控制策略。非线性系统。通过该策略解决了使用高阶ADRC进行参数设置的困难。由于干扰和耦合被视为一个附加的状态变量，然后通过低阶ADRC的ESO对其进行实时估计和补偿，因此解决了不确定性，非线性，耦合和干扰抑制的问题。同时，对ESO和球板系统轨迹跟踪进行了仿真研究，验证了所提策略的有效性。仿真实验结果表明，针对高阶复杂非线性设备，该策略具有较好的动态，鲁棒性。

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