针对传统滑模干扰观测器计算复杂、跟踪干扰速度慢等不足,基于自适应super-twisting算法提出一种新型干扰观测器技术。回顾已有滑模干扰观测器方法的基本原理并分析其跟踪速度慢、计算复杂的原因;基于辅助滑模面技术及自适应super-twisting算法设计高阶滑模干扰观测器,并证明其对干扰的快速跟踪特性。仿真分析表明,相比于已有滑模干扰观测器,该算法具有跟踪干扰速度快、计算简单的优点。

A novel disturbance observer based on adaptive super-twisting algorithm was proposed for insufficiency existing in traditional disturbance observer such as complex computation and low tracking velocity. The principles of those available sliding mode disturbance methods were reviewed and the reasons for their shortcomings were analyzed; a higher-order sliding mode disturbance observer was designed and its rapid tracking characters were proved on the basis of auxiliary sliding mode manifold technology and adaptive super-twisting algorithm. Simulation results show that the new algorithm is superior to that of those available sliding mode disturbance observers, especially in disturbance tracking velocity and computation ability.