Self-adaptive feedback protection dynamic surface controller structure and design method

Abstract

The invention discloses a self-adaptive feedback protection dynamic surface controller structure and a design method. The structure comprises n stages of sub controllers, wherein an output end alpha2 of a first-stage sub controller is connected with an input end of a second-stage sub controller, and the like, an output end alpha i of the (i-1)th-stage sub controller is connected with an input end of the i-th-stage sub controller, until an output end alpha n of the (n-1)-th sub controller is connected with an input end of the n-th-stage sub controller; the i-th-stage sub controller comprises a filter unit, a comparator unit, a linear control unit, an approximating machine unit, a feedback protection unit and a summer unit. The feedback protection unit is added on the basis of the dynamic surface control, so that on one hand, the input transient performance of the controller can be remarkably improved, and the design method is more helpful for practical engineering application, and on the other hand, the limitation that frequency band of control input signal cannot be regulated by regulating time of the filter in the dynamic surface control design method is overcome.

Description

technical field [0001] The invention relates to the technical field of adaptive control, in particular to a structure and a design method of an adaptive feedback protection dynamic surface controller for a class of lower triangular uncertain nonlinear systems. Background technique [0002] Backstepping has been widely valued and developed in the design of adaptive controllers for uncertain nonlinear systems because of its clear design process and easy derivation of control laws. However, controllers designed based on the backstepping method have a drawback, that is, the "computational complexity" problem. Since the backstepping method needs to derive the virtual control law in the process of each step of recursion, the number of controller items increases explosively with the increase of the system order, which makes the controller structure complex and greatly increases the control algorithm. The calculation load is not conducive to the actual engineering application. In ...

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Problems solved by technology

However, the controller based on backstepping method and dynamic surface design tends to saturate the control signal in the process of derivation and filtering, which shows that it is easy to generate a large control input signal in the initial stage, and the input transient performance of the system is relatively poor. Therefore, it seriously affects and restricts the practical engineering application of the above two controller design methods

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