烟台大学学报（自然科学与工程版）2026，Vol.39Issue(1)：1-8,8.DOI:10.13951/j.cnki.37-1213/n.250507
二级机械摆的动态事件触发跟踪控制
Dynamic Event-Triggered Control of Double Mechanical Pendulum
摘要
Abstract
This paper proposed a time-varying tracking control method based on time-varying disturbance observer for surface vessel systems under unknown external disturbances.First,since the boundary value of external disturb-ances is unknown,we estimated it by incorporating an adaptive mechanism in the disturbance observer design.Sec-ond,we developed an observer design scheme with time-varying parameters to enhance the disturbance observer's estimation performance.Finally,based on the estimated external disturbance signal,we designed a tracking con-troller with time-varying control gain.The proposed control scheme can achieve different tracking performances solely through controller parameter adjustments.Simulation results validate the theoretical findings.关键词
二级机械摆/干扰观测器/事件触发机制Key words
double mechanical pendulum/disturbance observer/event-triggering mechanism分类
数理科学引用本文复制引用
XU Shaojun,ZHAO Yuyin,FENG Likang,YAO Liqiang..二级机械摆的动态事件触发跟踪控制[J].烟台大学学报（自然科学与工程版）,2026,39(1):1-8,8.基金项目
山东省自然科学基金资助项目(ZR2025MS19,ZR2023MF016,ZR2025MS1068). （ZR2025MS19,ZR2023MF016,ZR2025MS1068）
