运用全状态线性化方法对在外部扰动持续作用下的非线性系统设计了扰动抑制控制器，利用非线性控制项消除开环系统的非线性因素。根据内模原理构造与扰动动态特性相同的内模补偿器，再利用Pontryagin极小值原理对增广系统设计最优调节器，得到非线性的内模扰动抑制控制器，其中的内模补偿控制项抵消了扰动对系统的影响。仿真中使用非线性内模扰动抑制控制器与非线性前馈反馈扰动抑制控制器进行比较，结果证明前者能够消除非线性因素影响且实现无静差扰动抑制。%The paper considers the controller design problem of disturbance rejection for nonlinear systems under external persistent disturbance by using the full-state linearization approach. The disturbance rejection controller with nonlinear term is designed, in which the nonlinear control term cancels the open-loop nonlinearity. According to the internal-model principle, the internal-model compensator is constructed which has the same dynamical characteristic with disturbance. The optimal regulator of the augmented system is designed by using Pontryagin minimum principle. Then the nonlinear disturbance rejection controller based on internal model is obtained, in which the internal-model compensation control term cancels the effect produced by disturbance. Comparing with the nonlinear feedforward and feedback disturbance rejection controller, the designed nonlinear internal-model-based disturbance rejection controller can eliminate eliminating the nonlinearity and rejecting disturbance with zero steady-state error.
展开▼
