摘要：针对具有不可测状态和不确定非线性的直流电机位置伺服系统，提出一种基于一致鲁棒精确微分器(URED)的输出反馈鲁棒控制算法。所构造的一致鲁棒精确微分器不依赖于系统输入和参数，它只用于估计系统状态，并能保证状态估计的全局有界性以及有限时间的准确估计。鲁棒控制处理不确定非线性，通过李雅普诺夫方法从理论上证明了整个闭环系统的稳定性。由仿真结果可见，系统跟踪误差最大约为005 mm，相对跟踪误差约为025%，证明了所提算法的有效性。
关键词：直流电机; 输出反馈控制; 一致鲁棒精确微分器; 不确定非线性；鲁棒控制

Abstract: A practical method named outputfeedback robust control of DC motors with uniform robust exact differentiator (URED) was proposed for DC motor servo systems with immeasurable states and uncertain nonlinearities. The constructed uniform robust exact differentiator was independent on control input and parameters of the systems，which was only employed to estimate the system state, achieving uniform global stability and exact tracking in finite time. And robust control was designed for the uncertain nonlinearities. The global uniform stability of the closedloop system was proved by Lyapunov analysis. Simulation results show that the maximum tracking error is about 003 mm and relative tracking error about 025%，which demonstrates the effectiveness of the proposed algorithm.
Key words: DC motor; outputfeedback control; uniform robust exact differentiator; uncertain nonlinearity; robust control.