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A Guaranteed Performance Control Method for All-State Constrained Strict Feedback Systems

A technology of feedback system and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2021-02-02
CHONGQING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Existing research (including those mentioned above) has not yet achieved a good combination of system state constraints and guaranteed performance tracking

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  • A Guaranteed Performance Control Method for All-State Constrained Strict Feedback Systems
  • A Guaranteed Performance Control Method for All-State Constrained Strict Feedback Systems
  • A Guaranteed Performance Control Method for All-State Constrained Strict Feedback Systems

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Embodiment Construction

[0081] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0082] A guaranteed energy control method for full-state limited strict feedback systems, comprising the following steps:

[0083] S1: Pretreatment, select the corresponding performance parameters according to the performance requirements provided by the user, and further determine the shaping function β(·) and the asymmetric scaling function

[0084] S2: Use the neural network to approximate the unknown smooth nonline...

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Abstract

The invention relates to a guaranteed cost control method for a full-state restricted strict feedback system. The method comprises the following steps of S1, pre-processing: setting guaranteed cost parameters according to user quantitative requirements for system performance, selecting a corresponding shaping function beta( ) and determining a corresponding asymmetric scaling function F( ); S2, using a neural network for approximation of the unknown smooth nonlinearity of the system, and using an adaptive method to estimate the neural network position weight; S3, based on a backstepping methodor an inversion method, conducting controller designing. The method can achieve the fixed value constraint on all states of the system and ensure that a tracking error converges to a predetermined range in a given time and finally converges to a smaller preset range, namely the presetting of steady-state errors is achieved, and the overshoot is smaller than a preset value.

Description

technical field [0001] The invention relates to a nonlinear tracking control method, in particular to a guaranteed energy control method for a strict feedback system limited by all states. Background technique [0002] Most tracking control designs can only address tracking stability of systems involving strong nonlinearities and significant uncertainties. However, in many engineering control applications, it is usually desired or required that the corresponding control scheme can maintain certain performance indicators, not just closed-loop stability. Furthermore, these metrics need to satisfy certain security constraints, making the underlying control problem more meaningful and challenging. [0003] The past few decades have witnessed tremendous efforts in dealing with constraints on the output or state of a system. Early approaches to ensuring that constraints were met included model predictive control, reference regulation, and non-overregulation. More recently, barr...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02
CPCG05B13/024G05B13/0255G05B13/027
Inventor 宋永端黄秀财赖俊峰
Owner CHONGQING UNIV
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