引用本文:张大蔚,刘国平,王立敏.受扰非线性全驱系统的抗干扰预测跟踪控制[J].控制理论与应用,2025,42(12):2439~2448.[点击复制]
ZHANG Da-wei,LIU Guo-ping,WANG Li-min.Anti-disturbance predictive tracking control for disturbed nonlinear fully actuated systems[J].Control Theory & Applications,2025,42(12):2439~2448.[点击复制]
受扰非线性全驱系统的抗干扰预测跟踪控制
Anti-disturbance predictive tracking control for disturbed nonlinear fully actuated systems
摘要点击 555  全文点击 62  投稿时间：2024-08-13  修订日期：2025-09-15
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DOI编号  10.7641/CTA.2025.40437
  2025,42(12):2439-2448
中文关键词  非线性全驱系统  外部干扰  高阶干扰观测器  抗干扰控制  全驱系统预测控制  稳定性与跟踪性能
英文关键词  nonlinear fully actuated systems  external disturbances  high-order disturbance observer  anti-disturbance control  FAS predictive control  stability and tracking performance
基金项目  中国博士后科学基金项目(2025M771730,GZB20250437),深圳市科技计划项目(JCYJ20241202125309014,KQTD20221101093557010), 广东省 科技计划项目(2024B1212010002), 国家自然科学基金项目(62173255,62188101,62163012)资助.
作者单位E-mail
张大蔚 南方科技大学自动化与智能制造学院 zhangdw@sustech.edu.cn 
刘国平* 南方科技大学自动化与智能制造学院 liugp@sustech.edu.cn 
王立敏 广州大学机械与电气工程学院  
中文摘要
      针对一类具有外部干扰的离散时间非线性全驱系统的跟踪控制问题,本文提出一种全驱系统抗干扰预测 控制方法.首先,在低保守性干扰假设下,利用差分算子及其高阶形式设计高阶干扰观测器来精确估计外部干扰,从 而为构建干扰预见提供良好基础;其次,利用Diophantine方程建立含有干扰预见的增量式全驱系统预测模型.基于 该预测模型,推导多步超前预测来最小化目标函数,进而获得最优抗干扰控制器以确保跟踪性能.进一步的讨论提 出分析闭环系统稳定性与跟踪性能的充分条件;最后,通过航天器姿态控制的数值仿真,验证所提出方法的有效性.
英文摘要
      This paper considers a tracking control problem for a type of discrete-time nonlinear fully actuated systems with external disturbances. A fully actuated system (FAS) anti-disturbance predictive control method is proposed to address this problem. Firstly, a high-order disturbance observer is designed by adopting a difference operator and its high-order form to accurately estimate the external disturbances under a less conservatism assumption, which provides a better foundation to construct a disturbance preview. Secondly, an incremental FAS (IFAS) prediction model with the disturbance preview is established by utilizing a Diophantine Equation. Based on this IFAS prediction model, the multistep ahead predictions are derived to minimize an objective function for obtaining an optimal anti-disturbance controller, such that the tracking performance can be maintained. Then, a sufficient condition is presented to analyze the bounded stability and tracking performance of the closed-loop FASs in the further discussion. Finally, the proposed FAS anti-disturbance predictive control provides a solution to spacecraft attitude control for the verification of effectiveness.