Structure and design method of a dynamic surface controller for a parallel single-stage double inverted pendulum

Abstract

The invention discloses a dynamic surface controller structure and design method of a parallel single-stage double inverted pendulum. The controller structure includes two controllers, and each controller includes two-stage sub-controllers. The first-stage sub-controller It is composed of a first comparator unit, a combination unit, an approximation unit and a nonlinear control unit, and the second-level sub-controller is composed of a filter unit, a second comparator unit, a combination unit, an approximation unit, a nonlinear control unit, and an auxiliary The system unit and the third comparator unit constitute. The invention solves the control problem of the parallel single-stage double inverted pendulum containing time-delay items; the introduction of the neural network approximator does not need to predict the uncertain dynamics of the complex system in advance and the relevant prior knowledge of the delay items; it also introduces the dynamic surface control technology, It overcomes the complex derivation problem of the intermediate control function of the backstepping method, and at the same time adjusts the norm of the weight matrix of the neural network instead of the weight itself, reducing the number of online adjustment parameters, thereby reducing the calculation load of the controller.

Description

technical field

[0001] The invention relates to a dynamic surface controller structure and design method of a parallel single-stage double inverted pendulum, in particular to a parallel single-stage double inverted pendulum and this type of multi-input multi-output lower triangular uncertain time-delay nonlinearity with input saturation The system controller structure and design method belong to the technical field of automatic control. Background technique

[0002] The parallel single-stage double inverted pendulum system connected by springs is a typical multi-input and multi-output lower triangular time-delay nonlinear system with uncertainty. The Lyapunov-Krasovskii functional is one of the tools for analyzing time-delay nonlinear systems. The adaptive controller constructed by combining the functional with backstepping and neural network approximation technology has been widely valued and developed in solving the control problems of complex lower triangular uncertain no...

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