速度与加速度约束的欠驱动系统的干扰建模与复合抗干扰控制研究

The control research on underactuated systems is an important subject in control theory and control engineering community, and there are many underactuated systems in practical engineering. This project studies the disturbance estimation and attenuation techniques and the composite anti-disturbance control for underactuated systems. The main study problems include: 1) The model of external disturbance is given, and the influence of disturbance on system structure is analysed. 2) The underactuated systems with acceleration constraints and disturbances are transformed, through state and input transformations, into nonlinear cascaded systems, and the designedly extended state observer is combined with the method of input-to-state stability to develop the composite anti-disturbance stabilization and tracking controllers. 3) Some underactuated systems with disturbances are converted into draftless and chained systems, then the finite-time disturbance observer is proposed and the method of terminal sliding mode or adding one power integrator is applied to design the finite-time composite anti-disturbance tracking controllers. Meanwhile, the underactuated surface ships under disturbances is rewritten into chained systems with drafts and single input, and the composite anti-disturbance path-following tracking control is addressed. 4) The kinematic model of underactuated systems with velocity constraints and disturbances are transformed into chained systems, and the previously obtained composite anti-disturbance techniques and discontinuous state transformations are used to solve the composite anti-disturbance stabilization and tracking control problems.

欠驱动系统的控制问题一直是控制理论与应用研究领域的一个重要研究方向，且欠驱动系统广泛存在于实际工程中。本项目研究欠驱动系统的干扰估计衰减技术与复合抗干扰控制问题。主要研究问题包括：1) 对外部干扰进行建模并分析其对系统结构的影响；2) 将干扰下的加速度约束欠驱动系统通过状态和输入变换，转化为非线性级联系统，构造扩展状态观测器并结合输入到状态稳定性方法，研究其复合抗干扰镇定和跟踪控制问题；3) 将某些干扰下的欠驱动系统转化为无漂移链式系统，构造有限时间干扰观测器并结合终端滑模或增加幂积分器方法，研究其有限时间复合抗干扰轨迹跟踪控制设计问题，同时将干扰下的欠驱动水面船舶化为单输入有漂移链式系统，研究其复合抗干扰路径跟踪控制问题；4) 将干扰下的速度约束欠驱动系统的运动学模型化为链式系统，利用上面的复合抗干扰技术结合不连续的状态变换法，研究其复合抗干扰镇定和跟踪控制问题。

实际工程应用中，普遍存在欠驱动性、干扰和不确定性。研究非线性欠驱动机器人系统的复合抗干扰控制具有重要理论意义和实际价值。本课题主要研究内容包括：. 针对外部干扰下的二维欠驱动吊车系统，基于终端滑模控制技术，提出了一种抗干扰消摆定位控制方法。针对具有外界干扰的双连杆机械臂系统，设计了两种抗干扰跟踪控制律。针对一类具有输入输出时滞和外部干扰的不确定哈密顿系统，研究了稳定问题和L2抗干扰衰减问题。针对一类积分输入状态稳定的非线性系统，系统中的逆动力学模型具有不确定性和系统输入通道具有外部干扰，提出了抗干扰输出反馈鲁棒控制器。针对一类带有输入死区，外部干扰以及输出约束的刚性飞行器，提出了抗干扰固定时间姿态跟踪控制算法。. 其他方面主要包括：研究机器人系统以及带有非线性漂移项的非线性系统的状态约束和输出约束控制问题；研究非线性系统、高阶非线性系统、切换系统以及随机非线性系统的有限时间控制问题；研究一类级联非线性系统的全局输出反馈调节问题以及实现无传感器无持续励磁条件下的电流控制问题。. 研究成果发表在SCI学术刊物论文24篇，国际学术会议3篇。主要刊物有: IEEE Trans. Syst., Man, Cybern., Syst., IEEE Trans. Fuzzy Syst., IEEE Trans. Circuits Syst. II, Int. J. Robust Nonlin. Control, Int. J. Control, Nonlin. Dyn., IET Control Theory Appl.等。