CAJ | 학술논문

提出了一种基于扩张状态观测器( extended state observer, ESO)的任意参考模型自适应控制方法,解决了被控对象状态信息不可测以及存在不确定因素导致模型参考自适应控制( model reference adaptive control, MRAC)效果变差甚至使系统不稳定的问题。在简述ESO数学模型的基础上提出了基于ESO的模型参考自适应控制方法并进行了严格的稳定性分析,仿真结果表明所设计方法具有跟踪速度快、稳态误差小、控制量小以及参考模型容易选择等特点。然后,提出基于改进MRAC的解耦控制方法并应用于三输入三输出的四旋翼飞行器姿态控制系统解耦控制,仿真结果表明该解耦控制方法具有鲁棒性好的特点。该方法无需按照通常的做法设计神经网络对不确定因素导致的误差进行补偿,大大简化了控制器设计过程。
제출료일충기우확장상태관측기( extended state observer, ESO)적임의삼고모형자괄응공제방법,해결료피공대상상태신식불가측이급존재불학정인소도치모형삼고자괄응공제( model reference adaptive control, MRAC)효과변차심지사계통불은정적문제。재간술ESO수학모형적기출상제출료기우ESO적모형삼고자괄응공제방법병진행료엄격적은정성분석,방진결과표명소설계방법구유근종속도쾌、은태오차소、공제량소이급삼고모형용역선택등특점。연후,제출기우개진MRAC적해우공제방법병응용우삼수입삼수출적사선익비행기자태공제계통해우공제,방진결과표명해해우공제방법구유로봉성호적특점。해방법무수안조통상적주법설계신경망락대불학정인소도치적오차진행보상,대대간화료공제기설계과정。
An improved adaptive control with arbitrary reference mode was presented based on the extend-ed state observer ( ESO) , focusing on solving the problems:( i) the system state is not measurable;( ii) the model reference adaptive control ( MRAC ) is less effective or even make the system unstable when there exist internal or external uncertainties. After briefly describing the mathematical model of ESO, the improved MRAC was put forward and a strict stability analysis was given. The simulation results show that the improved MRAC possesses quick tracking rate, high steady state accuracy and small control moment, including easily choosing a reference model. Then, a robust decoupling control method based on the im-proved MRAC was proposed and applied to decoupling control of the attitude control for the quadrotor air-craft with three inputs and three outputs. The simulation result shows that it has strong robustness. It is not necessary to design a neural network as usual to compensate for the uncertainties, which greatly sim-plified the process of controller design.