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Nonlinear system event trigger controller designing method based on extended state observer

A nonlinear system and extended state technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problem of using active disturbance rejection control technology without event trigger strategy

Active Publication Date: 2016-07-27
TIANJIN UNIV
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Problems solved by technology

Although there have been a lot of research work on event-triggered strategies, so far, there has been no discussion on how to apply event-triggered strategies to ADRC technology

Method used

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  • Nonlinear system event trigger controller designing method based on extended state observer
  • Nonlinear system event trigger controller designing method based on extended state observer
  • Nonlinear system event trigger controller designing method based on extended state observer

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Embodiment Construction

[0033] The controller design scheme adopted in the present invention is to transmit the sampling value of the extended state observer to the controller when the event trigger condition is reached, and then calculate and update the output of the actuator through the controller end, so that the entire closed-loop system is stabilized. In this way, on the one hand, network bandwidth resources are saved, and on the other hand, it also reduces the computational burden of the controller and reduces the update frequency of the executor. The specific implementation method is as follows: first establish a nonlinear model of the system, which is in the form of an integral chain, and convert it into a state space model, and then design the corresponding extended state observer; on this basis, design a suitable trigger condition, only when The observer state is sampled and sent when the trigger condition is met, and the controller uses the sampled value to calculate and update the output o...

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Abstract

The invention belongs to the field of controller design, aims at decreasing sampling points of an extended state observer, effectively saving network bandwidth resources, reducing network communication pressure and meanwhile ensuring the performance and stability of a closed-loop system adopting active disturbance rejection control, applies an event trigger mechanism to controller design and provides a nonlinear system event trigger controller designing method based on the extended state observer.The nonlinear system event trigger controller designing method specifically comprises the following steps that step 1, a single-input single-output nonlinear system model (shown in the description) is established; step 2, for estimating a state of the system and an extended state defined in the step (2), the extended state observer is designed; step 3, a sampling moment ti is determined; step 4, the state, sampled at the sampling moment ti, of the extended state observer is transmitted to the controller.The nonlinear system event trigger controller designing method is mainly applied to controller design occasions.

Description

technical field [0001] The invention belongs to the field of controller design, and specifically relates to a method for sampling the state of an extended state observer by using the principle of event triggering, and using the sampling state to design a controller. Background technique [0002] Many physical objects in reality have great uncertainty due to internal and external interference. The development of robust and adaptive control addresses many of these issues. However, the above-mentioned control method may make the designed controller more conservative, so Han Jingqing and others proposed ADRC technology. Active disturbance rejection control technology is a non-traditional control strategy, and its design principle is similar to the external model principle. Under the framework of ADRC, the unknown dynamic characteristics of the plant are regarded as the extended state of the plant, and can be estimated by designing an extended state observer. Guo Baozhu and ot...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 左志强罗乔雨王一晶李丹丹
Owner TIANJIN UNIV
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