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Model-free control method for second-order nonlinear systems based on command filtering backstepping

A technology of second-order nonlinearity and control method, which is applied in the field of model-free control of second-order nonlinear systems and can solve problems such as saturation control expansion difference

Active Publication Date: 2019-01-29
JIANGSU SHUANGSHUANG TECH CO LTD
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  • Description
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  • Application Information

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Problems solved by technology

Traditional backstepping control has saturation problem and control differential expansion

Method used

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  • Model-free control method for second-order nonlinear systems based on command filtering backstepping
  • Model-free control method for second-order nonlinear systems based on command filtering backstepping
  • Model-free control method for second-order nonlinear systems based on command filtering backstepping

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Embodiment Construction

[0148] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0149] The invention provides a model-free control method for a second-order nonlinear system based on command filtering Backstepping. The invention combines ESO and NNO to realize the estimation of the unknown model and external disturbance of the second-order nonlinear system, and unifies the forms of the two, based on the two The unified form of the controller is designed to design the corresponding command filter Backstepping controller.

[0150] Model identification and state estimation of the present invention:

[0151] Consider the following unknown second-order nonlinear system:

[0152]

[0153] Among them: f(x) is an unknown function, and the state x 2 Not measurable.

[0154] This application gives two methods to estimate the state x of f(x) and (2.1) 2 . One is an extended state observer method, and the other is a neural netw...

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Abstract

The invention firstly proposes two types of sensors: ESO and NNO, depends on the performance of an observer, proposes two new adaptive instruction filtering Backstepping no-model control methods, and enables the methods to be used in a ship power system so as to inhibit chaotic motion. The two types of proposed no-model adaptive instruction filtering Backstepping control are used for solving three problems: 1) there is no need to know a speed signal because the proposed control method can achieve the closed loop stabilization with no speed sensor; 2), the control method does not need a system dynamic mathematic model; 3), the two types of proposed control can eliminate impact from virtual control and control saturation. In addition, the method achieves stability analysis for a closed loop control system. A simulation result indicates that the method can guarantee the stability of the closed loop system of a second-order nonlinear system, and can estimate a speed state and recognize an unknown dynamic model.

Description

technical field [0001] The invention relates to the field of model-free control methods for second-order nonlinear systems, in particular to a model-free control method for second-order nonlinear systems based on command filtering Backstepping. Background technique [0002] Second-order systems widely exist in practical systems, such as robotic systems, aircraft and so on. Under certain conditions, many high-order systems are often studied approximately as second-order systems. Therefore, it is of practical significance to study the model-free control of the second-order system. On the other hand, due to the widespread existence of nonlinear phenomena in real systems, the research on the model-free control technology for the second-order system is more important than the research on the model-free control technology of the linear second-order system. meaning is more important. [0003] The Backstepping design method is a systematic controller synthesis method for uncertain...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02
CPCG05B13/027
Inventor 周洪成陈正宇杨娟
Owner JIANGSU SHUANGSHUANG TECH CO LTD
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