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Control method of non-linear parameterization system

A nonlinear and parameterized technology, applied in the control field of nonlinear parameterized systems, can solve the problems of adaptive module reducing the influence of parameter uncertainty, and achieve the goal of overcoming poor transient performance, good transient performance and flexible design. Effect

Inactive Publication Date: 2012-07-04
ZHEJIANG UNIV
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Problems solved by technology

This invention can ensure good robustness of the system, but this invention uses the traditional integral estimator, which cannot well play the function of reducing the influence of parameter uncertainty of the adaptive module

Method used

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  • Control method of non-linear parameterization system
  • Control method of non-linear parameterization system
  • Control method of non-linear parameterization system

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Embodiment Construction

[0024] The technical solution of the invention will be further described in detail in conjunction with the system (1) below.

[0025] The function of the coordination module of the present invention is to reconcile the contradiction between the robust action and the adaptive estimation, and the contradiction lies in that the estimated value generated by the adaptive estimator may be unbounded, but the robust action cannot deal with unbounded control problems. Therefore, the coordination module of the present invention uses a continuous projection method to project the parameter estimated value of the adaptive estimator so that its value remains within a bounded range. The projection algorithm is as follows:

[0026] Π i ( r i ) = e 1 ...

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Abstract

The invention belongs to the field of self-adaptive control, discloses a dynamic surface control method of a lower triangular non-linear parameterization system, and provides a novel algorithm which is combined with the dynamic surface control and the immersed and constant self-adaptive expectancy rate. In the control method, various external disturbance and unmodeled dynamics are suppressed by combination of the dynamic surface control and the robust effect, the problem of calculating expansion due to the backstepping process is avoided; uncertainty of parameters and unknown non-linear function in the system are distinguished, affection of the uncertainty of parameters is minimized and particularly the affection of the uncertainty of parameters to control performance is reduced to the greatest extent by means of the immersed and constant self-adaptive expectancy rate of an online study module; and finally the action of the self-adaptive expectancy rate and the action of the robust control are combined organically by a coordination module. The control method has the advantage of guaranteeing excellent dynamic performance and steady-state performance of the system simultaneously.

Description

technical field [0001] The present invention belongs to the field of self-adaptive control, specifically, it relates to the idea of ​​immersion and invariant self-adaptive control, combining the advantages of self-adaptive control and dynamic surface control (dynamic surface control) to realize the non-linear parameters of the improvement of control performance Systematic control method. Background technique [0002] The control of nonlinear parametric systems is a hot and difficult problem in the field of control research. The study of nonlinear parameterization is not only of great significance in theory, but also can create great value in engineering applications. A large number of uncertain items in actual systems are represented by nonlinear parameterization, such as chemical process, robot visual servo, friction compensation and other system models. Therefore, it is necessary to conduct in-depth research on nonlinear parametric systems. [0003] Adaptive control has...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 吕帅苏宏业蔡建平柳向斌刘之涛
Owner ZHEJIANG UNIV
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