自动化学报Issue(2)：202-212,11.DOI:10.16383/j.aas.2016.c150338
线性/非线性自抗扰切换控制方法研究
On Linear/Nonlinear Active Disturbance Rejection Switching Control
摘要
Abstract
Nonlinear active disturbance rejection control (NLADRC) is superior to linear active disturbance rejection control (LADRC) in tracking precision, anti-disturbance ability, and so on. However, there are difficulties in parameter tuning, stability analysis, performance analysis, etc, which inhibits its application. Therefore, LADRC is more popular in engineering applications. This paper presents a linear/nonlinear active disturbance rejection switching control method, which has both of the advantages of LADRC and NLADRC, and solves the problems of parameter tuning, stability analysis, etc. Firstly, the characteristics of LADRC and NLADRC are presented, and then a switching strategy is proposed. Secondly, a simple practical parameter tuning method is provided. Thirdly, the stability is analyzed through Routh criterion and Popov criterion. Simulations show that the switching control method is superior to both LADRC and NLADRC in tracking precision and anti-disturbance. The proposed method fully demonstrates the advantages of nonlinear functions in occasions when high tracking precision and strong anti-disturbance ability are needed, and is hopefully to be adopted in practical application.关键词
自抗扰控制/切换控制/参数整定/稳定性分析/性能分析Key words
Active disturbance rejection control/switching control/parameter tuning/stability analysis/performance analysis引用本文复制引用
李杰,齐晓慧,夏元清,高志强..线性/非线性自抗扰切换控制方法研究[J].自动化学报,2016,(2):202-212,11.基金项目
国家重点基础研究发展计划(973计划)(2012CB720000),国家自然科学基金(61225015,61321002),飞行器海上测量与控制联合实验室开放基金项目(FOM2015OF011)资助@@@@Supported by National Basic Research Program of China (973 Program)(2012CB720000), National Natural Science Founda-tion of China (61225015,61321002), and the Open Funding Pro-gram of Joint Laboratory of Flight Vehicle Ocean-based Mea-surement and Control (FOM2015OF011) （973计划）
