Self-adaptive learning preset performance control method of nonlinear system

An adaptive learning, nonlinear system technology, applied in the field of adaptive learning preset performance control of nonlinear systems, can solve the problems of transient and steady-state performance relying on a posteriori parameter adjustment, difficult a priori design, etc., to achieve enhanced Robust and adaptive, low-complexity effects

Active Publication Date: 2017-09-22
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] In addition, the existing transient and steady-state performance for the Euler-Lagrange system mostly depends on complicated posterior parameter tuning, which is difficult to design a priori

Method used

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  • Self-adaptive learning preset performance control method of nonlinear system
  • Self-adaptive learning preset performance control method of nonlinear system
  • Self-adaptive learning preset performance control method of nonlinear system

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Embodiment

[0088] Taking the fixed-point tracking control of the ground vehicle as the simulation object, the 12 parameters ρ of the three preset performance functions in the simulation experiment s,10 ,ρ s,20 ,ρ s,30 ,ρ s,1∞ ,ρ s,2∞ ,ρ s,3∞ ,κ s,1 ,κ s,2 ,κ s,3 ,, Take them as 6, 35, 3, 0.05, 0.1, 0.05, 0.02, 0.02, 0.05 respectively; control gain k 1 ,k 2 ,k 3 Take 600,800,200 respectively; manifold parameter β=diag{1,1,2}.

[0089] The parameters of the ground car are: inertia matrix M=diag{M 1 , M 2 , M 3}, where M 1 =500kg, M 2 =1000kg, M 3 =700kgm 2 , the Coriolis matrix C is:

[0090]

[0091] in:

[0092] Evaluation - The number of hidden layer nodes in the executive layer is 10, and the initial values ​​of the weight parameters of the input layer and hidden layer, as well as the hidden layer and output layer are arbitrarily selected in the interval [-0.3,0.3],[-0.2,0.2] .

[0093] The discount parameter factor is 0.95, and the evaluation-execution net...

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Abstract

The invention discloses a self-adaptive learning preset performance control method of a nonlinear system. The self-adaptive learning preset performance control method comprises the steps of establishing an Euler-Lagrange dynamic system model at first, then performing preset performance control on the Euler-Lagrange dynamic system model, designing a nominal preset performance controller, and finally designing a learning-based self-adaptive controller based on self-adaptive dynamic planning. The self-adaptive learning preset performance control method of the nonlinear system designs a low-complexity robust self-adaptive controller only relying on input/output data of the system without the need of an exact dynamic model of the system, thus prior design of transient and steady-state performance of a controlled Euler-Lagrange system can be realized, and the shortcoming that the traditional control based on data learning relies heavily on an initial admission control strategy can be avoided.

Description

technical field [0001] The invention belongs to the technical field of adaptive control of nonlinear systems, and in particular relates to an adaptive learning preset performance control method of nonlinear systems. Background technique [0002] Many practical engineering systems (such as spacecraft, space robots, etc.) can be written in Euler-Lagrange form, so the robust control of Euler-Lagrange systems has always been a hot spot in the field of control research. The existing control methods for Euler-Lagrange systems mainly include sliding mode control, predictive model control, control and so on. But these mentioned control methods all heavily depend on the dynamic model of Euler-Lagrange system. Due to the uncertainty of the system and the interference of the external environment, it is often difficult to obtain an accurate Euler-Lagrange system model. In order to realize the robust control of the Euler-Lagrange system with unknown nonlinearity, the adaptive control ba...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 罗建军魏才盛袁建平王明明朱战霞殷泽阳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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