Trajectory tracking Controller design of high-order Ball and Plate System based on Improved Auto-disturbance Rejection Controller

摘要：

Ball and plate system is a high-order, uncertainty, nonlinear systems. Aiming at this system, a cascade control strategy with low-order active disturbance rejection controller (ADRC) is proposed in this paper. After the nonlinear system is converted into cascade system of several low-order nonlinear subsystems, the controller can be designed. This strategy solves the difficulties of structure design and parameter setting with high-order ADRC. Because the disturbance and uncertainty are treated as an additional state variable, which is then estimated and compensated for in real time through the ESO, the problems of uncertain, nonlinear, and disturbance rejection are all solved. At the same time, a new nonlinear function is used in ADRC to solve the chatter problem of controller. The results of simulation experiments indicate that the proposed strategy has better dynamic, robust characteristics.

作者: Huida duan Yantao Tian Guangbin Wang

作者单位: Jinlin University,Changchu 130025,China and Beihua University,Jilin 132021,China Jilin University,Changchun 130025,China and The Key Laboratory for Bionic Engineering of Ministry of

会议类型: 国际会议

会议名称: The 3rd International Symposium on Systems and Control in Aeronautics and Astronautics(第三届航空航天系统与控制国际会议 ISSCAA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 82-87

在线出版日期: 2010-01-08（万方平台首次上网日期，不代表论文的发表时间）