自动化学报2026，Vol.52Issue(4)：865-878,14.DOI:10.16383/j.aas.c250494
基于有限时间扩展状态观测器的不确定二自由度直升机系统自适应规定性能控制
Finite-time Extended State Observer-based Adaptive Prescribed Performance Control for an Uncertain 2-DOF Helicopter System
摘要
Abstract
This paper proposes a finite-time extended state observer-based adaptive prescribed performance control method for an uncertain 2-DOF helicopter system with external disturbances.A designed prescribed performance function and a switching model based transformation error are employed to overcome initial error limitations in tra-ditional performance control.Then,a finite-time extended state observer is introduced to estimate total disturb-ances.Integrating transformation error with adaptive non-singular fast terminal sliding mode control circumvents the singularity issue,ensuring prescribed system performance.Besides,system stability is validated via the Lyapun-ov method.The feasibility and effectiveness of the proposed control strategy are verified by simulations and experi-ments.关键词
自适应规定性能控制/外部干扰/有限时间扩展状态观测器/二自由度直升机系统Key words
adaptive prescribed performance control/external disturbances/finite-time extended state observer/2-DOF helicopter system引用本文复制引用
赵志甲,陈志臻,翁言,马鸽,何树德,陈首彦..基于有限时间扩展状态观测器的不确定二自由度直升机系统自适应规定性能控制[J].自动化学报,2026,52(4):865-878,14.基金项目
国家自然科学基金(62273112,62433011,62403154,62573144),广东省自然科学基金(2025A1515010885,2023A1515110073,2024B1515120013,2023B1515120018,2023B1515120019),广州市科技计划(2025A03J3135,2025A04J5629,2025A04J3854)资助 Supported by National Natural Science Foundation of China(62273112,62433011,62403154,62573144),Guangdong Basic and Applied Basic Research Foundation(2025A1515010885,2023A1515110073,2024B1515120013,2023B1515120018,2023B1515120019),and Science and Technology Planning Project of Guangzhou(2025A03J3135,2025A04J5629,2025A04J3854) （62273112,62433011,62403154,62573144）
