An adaptive dynamic surface controller structure and design method

Abstract

The invention discloses a structure and design method of an adaptive dynamic surface controller. The invention adds an error feedback unit on the basis of the adaptive dynamic surface control, and the virtual given signal can be adjusted according to the feedback tracking error information, especially when When the tracking error is large, the virtual given signal can be quickly adjusted to reduce the tracking error, which overcomes the poor transient performance of the control system caused by the tracking error. The introduction of the error feedback unit can effectively prevent the actuator from being saturated, and reduce the mechanical damage to the actuator caused by the trembling of the control input signal; it can make the neural network quickly and smoothly approach the uncertainty in the controlled system, The tracking performance of the control system is guaranteed without sacrificing the robustness of the controller; the error feedback unit only plays a role in the transient transition process, and the proposed controller design method can improve the transient performance of the control system while ensuring the steady-state performance of the system .

Description

technical field [0001] The invention relates to the field of nonlinear system control, in particular to an adaptive dynamic surface controller structure and design method. Background technique [0002] For the control problem of nonlinear systems, American scholar Swaroop et al. proposed the Dynamic Surface Control (DSC) method, which can be applied to a large class of nonlinear systems, and has the advantages of clear design process and simple controller structure. , and thus has been extensively researched and applied. [0003] Chinese scholar Wang Dan et al. proposed a neural network adaptive dynamic surface control method to solve a class of highly uncertain single-input single-output nonlinear system control problems; American scholar Song et al. proposed an observer-based The dynamic surface adaptive control method realizes the independent design of the observer and the controller, and is suitable for the situation where the state of the controlled system is not compl...

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Problems solved by technology

[0004] However, when there is a large uncertainty in the controlled system, the existing adaptive dynamic surface technology scheme often needs to reduce the tracking error by selecting a large adaptive control parameter

However, in the transient transition process, especially when the tracking error is large, too large adaptive control parameters will cause overshoot and high-frequency oscillation of the control signal. In severe cases, it will cause actuator saturation or excite unmodeled dynamics, which will affect the control. system stability

The above defects that cannot guarantee the transient performance of the control system seriously restrict the development and application of adaptive dynamic surface control methods

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