Tracking control method of nonlinear pure time delay system independent of ideal track

An ideal trajectory and tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as uncertain time delay and uncertain pure feedback system

Inactive Publication Date: 2017-08-25
STAR (CHONGQING) INTELLIGENT EQUIP TECH RES INST CO LTD
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Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a kind of tracking control method of the nonlinear pure time-delay system that does not depend on ideal track, to solve the unknown tar

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  • Tracking control method of nonlinear pure time delay system independent of ideal track
  • Tracking control method of nonlinear pure time delay system independent of ideal track
  • Tracking control method of nonlinear pure time delay system independent of ideal track

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Embodiment Construction

[0072] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0073] The present embodiment does not depend on the tracking control method of the nonlinear pure time-delay system of ideal trajectory, comprising the following steps:

[0074] Step 1. Establish the mathematical model of the controlled uncertain pure feedback system with time delay, the form of which is as follows:

[0075]

[0076] where, for i=1,...,n, x i is the system state variable, u∈R, y∈R are the control input and system output of the system respectively, τ i is the uncertain time delay constant, is the state variable affected by the delay, f i ( ) is an unknown but smooth nonlinear function, Δf i (·) is the unknown smooth time delay function, d i ( ) is an uncertain disturbance, x=[x 1 ,...,x n ] T ;

[0077] definition

[0078]

[0079] and have

[0080] Step 2. Using the parameterized linear combination of basis fu...

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Abstract

The invention discloses a tracking control method of a nonlinear pure time delay system independent of an ideal track comprises the following steps of step1, establishing a mathematic model of an uncertain pure feedback system of controlled band time delay; step2, using a parametric linearity combination of a primary function to reconstruct and estimate an unknown ideal track; step3, designing a controller of a controlled non-linear pure time delay system; and step4, taking a controlled quantity u as control input of an actuator of a controlled non-linear system and realizing preset performance tracking of system output to the unknown ideal track. By using the tracking control method of the nonlinear pure time delay system independent of the ideal track, close tracking of the system to the unknown ideal track is realized and simultaneously transient and stable-state performance of the system and stability of a closed loop system are guaranteed.

Description

technical field [0001] The invention relates to the technical field of nonlinear system control, in particular to a tracking control method for a nonlinear pure time-delay system. Background technique [0002] Most control problems, such as vehicle automatic driving, target tracking, missile interception, etc., can be regarded as trajectory tracking control problems. At the same time, this problem has also attracted many researchers, so there are also a large number of research results related to the trajectory tracking control problem. But it has to be explained that most of the research results are based on the premise that the ideal trajectory or reference input is known. However, in practical applications, the ideal trajectory or reference input may also be unknown or cannot be obtained accurately. For example, in a missile interception system, the trajectory of the intercepted missile may be deliberately hidden so that the ideal trajectory cannot be obtained accuratel...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋永端张贝贝赖俊峰高辉
Owner STAR (CHONGQING) INTELLIGENT EQUIP TECH RES INST CO LTD
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