一种新的不确定系统综合方法---自稳定域综合法及其应用

Control problem for uncertain systems, which may be linear and/or nonlinear, time-invariant and/or time variant, has been a hot topic, which attracts great attention both from theoretical researchers and engineers. In this project, a novel frame for control system design is discussed for some challenging problems, such as the aircraft attitude control, the force equilibrium circuit design for the dynamically tuning gyro, quick tracking and high precision sighting for a tank and interaction control of robot in an uncertain environment. In this frame, the uncertainties, which include the internal dynamics (linear and/or nonlinear, time-invariant and/or time-variant), the coupling effects and the external disturbances, are treated as the "total disturbance", which is estimated by a unique observer, the extended stats observer (ESO). This algorithm is named as the active disturbances rejection control (ADRC), since the "total disturbances" can be actively estimated and compensated. With the help of the experiment study and the new concept "the self stable region", the closed-loop stability of the system is analyzed. Furthermore, the capability of a fixed ADRC is analyzed.

突破以往综合方法的思想框架，提出一系列符合工程实际要求的新概念、新方法，建立一种新的不确定系统综合方法－－－自稳定域法。用该理论处理一些具有重大理论意义的国际前沿问题，给出解决问题的新思路、新方法；并用该理论系统地研究一系列新型非线性结构控制器的稳定性及作用机理，促进其实现所蕴含的思想技术的先进性和巨大的经济效益。