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An Interference Compensation and Suppression Method for Generalized Uncertain Systems

A technology of disturbance compensation in a broad sense, applied in the field of disturbance compensation and suppression of generalized uncertain systems, can solve the problem of low control accuracy and achieve the effect of improving control performance

Active Publication Date: 2017-06-06
BEIHANG UNIV
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Problems solved by technology

[0005] The problem that the technology of the present invention solves is: for the generalized system that contains state derivative uncertainty item and multi-type disturbance, overcomes existing H ∞ The control method can only address the problem of a single type of disturbance and low control accuracy. A compound control method with disturbance compensation and suppression capabilities can be designed to improve the control performance of generalized uncertain systems.

Method used

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  • An Interference Compensation and Suppression Method for Generalized Uncertain Systems
  • An Interference Compensation and Suppression Method for Generalized Uncertain Systems
  • An Interference Compensation and Suppression Method for Generalized Uncertain Systems

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Embodiment Construction

[0043] The steps are as follows:

[0044] The first step is to mathematically model the harmonic disturbance of the generalized uncertain system, and design a reduced-order disturbance observer to estimate and offset the harmonic disturbance;

[0045] Consider the following generalized uncertain system Σ 1 :

[0046]

[0047] The output equation is:

[0048]

[0049] in, Indicates the system Σ 1 state variable, is a known non-singular matrix, u∈R m represents the control input, w 0 ∈R m Indicates harmonic interference, w 1 ∈R p Denotes a norm-bounded disturbance, z∈R q Indicates the reference output, y=x∈R n Indicates the measurement output; C 1 ∈R q×n 、D 1 ∈R q×p is a known constant matrix, I represents the identity matrix; the nonlinear uncertain item is a smooth nonlinear function that satisfies the following bounded conditions: Among them, W 0 is a known weighting matrix; and the harmonic interference w 0 can be modeled by the following mod...

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Abstract

The invention relates to an interference compensation and inhibition method for a generalized uncertain system, and relates to a design of one type of composite controllers comprising nonlinear uncertain systems. The method is used for the generalized uncertain system which comprises a nonlinear uncertain item, harmonic interference and norm bounded interference, and comprises the following steps: firstly carrying out the mathematical modeling of the harmonic interference of the generalized uncertain system, and designing a reduced order interference observer to estimate and counteract the harmonic interference; secondly, designing a robust H-norm controller to inhibit the nonlinear uncertainty and norm bounded interference in the generalized uncertain system; finally enabling the robust H-norm controller to be combined with the interference observer, obtaining a composite controller, and solving a gain matrix of the H-norm controller and the interference observer based on a convex optimization algorithm. The method is strong in anti-interference capability, is high in control precision, and can be used for the high-precision control of the generalized system.

Description

technical field [0001] The invention relates to an interference compensation and suppression method for generalized uncertain systems, which can effectively compensate harmonic interference in generalized uncertain systems and suppress nonlinear uncertain items and norm-bounded interference; the invention can be applied to multiple In high precision control of disturbed generalized uncertain systems. Background technique [0002] The generalized system was gradually formed and developed in the 1970s, and gradually became an independent and important branch of modern control theory. Many practical control problems, such as circuit networks, power systems, aeronautical engineering, chemical processes, nuclear reactions, neural networks, and constrained robotic systems, all need to be described by generalized systems. Since the generalized system is more general in the description of the control problem, it has gradually attracted many scholars to study the control problem of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭雷朱玉凯乔建忠张培喜徐健伟
Owner BEIHANG UNIV
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