A motion-body attitude event-triggered control method with actuator saturation problem

Abstract

The invention provides a saturation problem moving body attitude event-triggered control method with an actuator. The steps are listed as follows: 1, expected tracking values are given: expected attitude angles phi<d>, theta<d> and psi<d>, and expected attitude angle speed p<d>, q<d>, r<d>; 2, attitude angle tracking error is calculated: attitude angle error phi<e>, theta<e> and psi<e>, and attitude angle speed error q<e>, p<e> and r<e>; 3, an event-triggered controller is designed: feedback gain K<c> is calculated; 4, event-triggered controller output quantity y<c> for eliminating the attitude angle is calculated; and event conditions are designed; 5, control quantity limit is given: saturation control quantity sat(mu) for eliminating the expected attitude angle and attitude angle speed error is calculated; 6, an LQ anti-saturation control compensator is designed: the feedback terms v<aw> and y<aw> of correction control quantity and state quantity are calculated; and 7, input and output mu<c,aw> and y<c,aw> of an event-triggered controller after correction of the LQ anti-saturation control compensator are calculated and applied to a moving body control model. According to the method, problems of actuating mechanism saturation and system data load can be solved, any expected attitude can be tracked and closed loop system asymptotical stability can be guaranteed.

Description

technical field [0001] The present invention provides a motion body attitude event trigger control method with the problem of actuator saturation, which provides a new and widely used method for general conventional motion bodies that can update the controller according to event triggers and resist saturation of the actuator. The control method belongs to the technical field of automatic control. Background technique [0002] For a moving body with an actuator, when the moving body tracks the desired posture, due to the limit setting of the actuator of the moving body, it is easy to cause the problem of saturation of the actuator; in addition, during the movement of the moving body, there is often a data load If it is too large, the performance of the control system will drop, and even cause problems such as system instability. [0003] This invention "a moving body attitude event trigger control method with actuator saturation problem" is based on the above problems as an ...

AI Technical Summary

Problems solved by technology

In practical engineering applications, the position, attitude, speed and other state quantities of the moving body are measured by sensors such as combined inertial navigation, and the control quantity calculated by this method will be transmitted to the actuator, which can solve the problem of saturation of the actuator of the moving body, Attitude tracking control function for the problem of excessive data load in the control system

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