崔乃刚 , 白瑜亮 , 常亚武 , 等 . 基于非线性动态逆的水下运载器控制方法研究 [J ] . 兵工学报 , 2013 , 34 ( 4 ): 443 - 449 . DOI: 10. 3969/ j. issn. 1000-1093. 2013. 04. 010 http://doi.org/10. 3969/ j. issn. 1000-1093. 2013. 04. 010 针对水下运载器具有强非线性、强耦合、多输入多输出、水动力作用复杂以及姿态变化剧烈等特点,设计了一种非线性动态逆控制系统,解决了传统控制器设计方法在线性化过程中因忽略非线性因素带来局限性的问题。通过慢回路姿态控制器和快回路姿态控制器的设计解决了水下运载器非线性、强耦合以及多输入多输出的问题,并且运用Lyapunov 稳定性分析证明了控制器的稳定性。控制方法跟踪单位阶跃信号时稳态时间为1 s,超调量为4%,较PID 控制的动态特性有较大提升。非线性控制系统仿真结果表明该控制器对于依30%水动力参数不确定性具有一定的鲁棒性。摇摇

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胡坤 , 张孝芳 , 刘常波 . 基于遗传算法的无人水下航行器深度自抗扰控制 [J ] . 兵工学报 , 2013 , 34 ( 2 ): 217 - 222 . DOI: 10.3969/j.issn.1000-1093.2013.02.014 http://doi.org/10.3969/j.issn.1000-1093.2013.02.014 根据无人水下航行器（UUV）操纵控制过程的特点，设计了一种基于遗传算法的UUV深度自抗扰控制器（ADRC）。针对ADRC控制器控制参数较多的问题，将其参数设计转化为一种辨识问题。借助遗传算法，对UUV深度控制系统中的ADRC控制参数进行了辨识，并对其在无外界干扰和近水面航行受波浪力干扰两种情况下的深度控制进行了仿真。数值仿真结果表明，ADRC控制可以获得较好的深度保持性能，并且具有较强的抗干扰能力。与PID控制相比，ADRC控制的操舵幅度和操舵频率有了明显降低，其控制品质有了明显提高。

HU K , ZHANG X F , LIU C B . Unmanned underwater vehicle depth ADRC based on genetic algorithm near surface [J ] . Acta Armamentarii , 2013 , 34 ( 2 ): 217 - 222 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2013.02.014 http://doi.org/10.3969/j.issn.1000-1093.2013.02.014 A kind of auto disturbance rejection controller(ADRC) based on genetic algorithm for keeping UUV depth was designed according to the characteristics of UUV maneuvering. Because of more parameters of ADRC, its parameter design was transformed to parameter optimization. The controller parameter of ADRC in a UUV depth control system was optimized by using the genetic algorithm. The depth control of UUV was simulated without disturbing and near the surface. The simulation results show that the ADRC controller has better depth keeping and antijamming performances. Compared with the conventional PID controller, the amplitude and the frequency of steering controlled by ADRC controller are reduced much more obviously. The control quality of ADRC is significantly improved.

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陈增强 , 孙明玮 , 杨瑞光 . 线性自抗扰控制器的稳定性研究 [J ] . 自动化学报 , 2013 , 29 ( 5 ): 575 - 580 .

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高阳 , 吴文海 , 王子健 . 具有输入约束和输出噪声的不确定系统级联线性自抗扰控制 [J ] . 自动化学报 , 2022 , 48 ( 3 ): 843 - 852 .

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FU B S , QI H , XU J T , et al. Attitude control in ascent phase of missile considering actuator nonlinearity and wind disturbance [J ] . Applied Sciences , 2019 , 9 ( 23 ): 5113 . DOI: 10.3390/app9235113 http://doi.org/10.3390/app9235113 https://www.mdpi.com/2076-3417/9/23/5113 https://www.mdpi.com/2076-3417/9/23/5113 During the ascent phase of a missile, a challenging problem occurs that blocks the construction of a high-precision attitude control scheme, which directly affects accurate modeling including disturbances: non-linearities of an actuator, rapidly time-varying parameters, un-modeled dynamics, etc. In order to improve the control performance, an active disturbance rejection control (ADRC) scheme, considering non-linear dynamics of the actuator and wind disturbance during the ascent phase, is proposed in this paper. An expand state observer (ESO) is planned to estimate and compensate the actuator’s non-linear dynamics, flight model uncertainties, and wind disturbance. Therefore, the complex non-linear time-varying control problem is simplified into a linear time-invariant control problem. The pitch attitude control system is controlled by the cascade method and ADRC controllers are designed for actuator close loop and attitude control loop, respectively. The simulation results show that ADRC has strong robustness under different dead-zones and external disturbances of the actuator. On the other hand, ADRC can effectively suppress the external atmospheric disturbance. Compared with the traditional gain-scheduling control scheme, the ADRC scheme can significantly reduce the overloading of the system and shows remarkable performance for tracking as well as wind resistance.

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