二级机械摆的动态事件触发跟踪控制OA

This paper proposed a time-varying tracking control method based on time-varying disturbance observer for surface vessel systems under unknown external disturbances.First,since the boundary value of external disturb-ances is unknown,we estimated it by incorporating an adaptive mechanism in the disturbance observer design.Sec-ond,we developed an observer design scheme with time-varying parameters to enhance the disturbance observer's estimation performance.Finally,based on the estimated external disturbance signal,we designed a tracking con-troller with time-varying control gain.The proposed control scheme can achieve different tracking performances solely through controller parameter adjustments.Simulation results validate the theoretical findings.