Command filtering backstepping control method based on interference observer

Abstract

The invention relates to a command filtering backstepping control method based on an interference observer. An anti-interference non-linear controller is designed according to a multi-source interference non-linear system. The command filtering backstepping control method comprises the following steps of firstly building a non-linear mathematical model of a multi-source interference system; secondly designing equivalence interference in an estimation system of the non-linear system interference observer; then substituting equivalence interference estimated values obtained from the non-linear system interference observer into a command filtering backstepping controller, building the command filtering backstepping controller; and finally using a pole allocation method to design command filtering backstepping controller gain and non-linear interference observer gain for guaranteeing a closed loop composite error system to asymptotically be stable. The command filtering backstepping control method is strong in anti-interference capability, and can be applied to anti-interference control for systems such as aircrafts, mechanical arms, biochemical processes and ships.

Description

technical field

[0001] The invention relates to a command filtering backstepping control method based on a disturbance observer. The method is a nonlinear system anti-interference control method and can be used for anti-interference control of systems such as aircraft, manipulators, biochemical processes, and ships. Background technique

[0002] The backstepping method is a systematic nonlinear control method that emerged in the 1990s. "Backstepping" reflects the recursive nature of the design steps. Its basic design idea is to divide the complex high-order nonlinear system into multiple low-order subsystems, start from the subsystem farthest from the system control input, obtain the virtual control quantity to ensure the stability of the subsystem by constructing part of the Lyapunov function, and gradually Back to the control input, so as to get the final controller, in the process, the Lyapunov functions of the whole system are also constructed one after another. The adv...

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