Non-affine uncertain system self-adaptive control method with range restraint

Abstract

The present invention relates to a non-affine uncertain system self-adaptive control method with a range restraint. In combination with the characteristic that system input and states are subject to the range restraint, based on a mean value theorem, a non-affine system is converted into a time varying system (a strict feedback system) with a linear structure, and a varying interval of time-varying uncertain parameters of the time varying system is obtained. On the basis, a parameter adaptive projection technique is utilized to carry out online estimation on bounded uncertain time-varying parameters and external disturbances, and a parameter estimation error is compensated by using the nonlinear dynamic damping technology. Based on the nonlinear mapping technology, a restraint amount is mapped to the whole real number space to solve a state restraint problem of the system, thus to ensure the state is always within a restraint range. A hyperbolic tangent function and the Nussbaum gain technology are simultaneously utilized to solve the problem that system input is subject to the range restraint or the problem of input saturation and the potential problem of singular values of a controller, and the controller is designed in combination with a method of inversion, thereby solving the problem of self-adaptive control of the non-affine uncertain system with the range restraint.

Description

technical field [0001] The invention enters the field of automatic control, specifically, it is an adaptive control method for an interval-constrained non-affine uncertain system. Background technique [0002] In recent years, the control of complex nonlinear systems has become a research hotspot among scholars at home and abroad, and many control methods have been proposed, such as feedback linearization, adaptive inversion, neural network theory and fuzzy logic control. However, most of the research results are for affine systems, and there are few research results for non-affine systems. [0003] Since the control input of the non-affine system does not enter and affect the dynamic characteristics of the system through the control gain in a linear proportional manner, but affects the system in a non-linear implicit way, there is no "control gain" and " The concept of "control direction" is more complex and challenging, and less research results have been obtained. As fa...

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