...结构图 4基于ADRC的位置伺服系统 自抗扰控制器‘71(ADRC)由跟踪微分器(TD),扩张观 测器(ESO)和非线性反馈控制律(NLPID)三部分构成。 设受控对象为二阶, r戈l 3镌 {菇2=以茗I,茗2,t)+bu (3) 【y=茗。
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非线性误差反馈控制律 NLSEF ; Nonlinear state error Feedback
得到的最优控制律由解析的线性前馈-反馈项和伴随向量序列极限形式的非线性补偿项组成。
The obtained optimal control law consists of analytical linear feedforward and feedback terms and a nonlinear compensation term which is the limit of the adjoint vector sequence.
自抗绕控制器由三部分组成:跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律。
The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.
本文对带有界扰动的一类含非匹配互联项的人型互联非线性系统进行了分散状态反馈控制设计,通过子系统状态的线性变换,得到分散状态反馈控制律。
In this paper, decentralized state feedback control design for a class of large-scale interconnected nonlinear systems with mismatched interconnections and bounded disturbances is given.
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