Sliding mode control method with random nonlinear disturbance

A control method and non-linear technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the controlled output of the system has a large influence, the precision of sliding mode control is low, and the sliding mode control method cannot handle random problems at the same time. Switch nonlinearity, state time lag and uncertainty, etc., to achieve the effect of resisting parameter perturbation and improving accuracy

Inactive Publication Date: 2018-11-30
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing sliding mode control method cannot deal with random switching nonlinearity, state time lag and uncertainty at the same time, so th

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  • Sliding mode control method with random nonlinear disturbance
  • Sliding mode control method with random nonlinear disturbance
  • Sliding mode control method with random nonlinear disturbance

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specific Embodiment approach 1

[0019] Specific embodiment one: a kind of sliding mode control method with random nonlinear disturbance comprises the following steps:

[0020] Step 1. Establishing a dynamic model of an uncertain networked control system with stochastic switching nonlinearity and bounded state time-delay;

[0021] Step 2. Design the sliding surface for the dynamic model of the uncertain networked control system with random switching nonlinearity and bounded state time-delay established in step 1;

[0022] Step 3, according to the sliding mode surface of the dynamic model of the networked control system with random switching nonlinearity and bounded state time-delay designed in step 2, calculate the sliding mode dynamics of the sliding mode surface;

[0023] Step 4. Using the sliding mode dynamics obtained in step 3, through the Lyapunov stability theorem, obtain the guaranteed sliding mode dynamics H ∞ The discriminant condition of performance, by solving the discriminant condition, the slid...

specific Embodiment approach 2

[0025] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the specific process of establishing a dynamic model of an uncertain networked control system with random switching nonlinearity and bounded state time-delay in the first step is as follows:

[0026] A dynamic model of a networked control system with stochastic switching nonlinearity and bounded state time-delay is established, and its state-space form is:

[0027]

[0028] z k =Cx k +E 2 ω k (2)

[0029] x k = φ k ,k∈[-τ M ,0]

[0030] where x k is the state variable of the dynamic model of the networked control system at time k, x k+1 is the state variable of the dynamic model of the networked control system at time k+1, is k-τ k The state variables of the dynamic model of the networked control system at time; u k is the control input of the dynamic model of the networked control system at time k; z k is the controlled output of the networked control system at time k; τ k ...

specific Embodiment approach 3

[0032] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the dynamic model of an uncertain networked control system with random switching nonlinearity and bounded state time-delay established for Step 1 in Step 2 The specific process of designing the sliding surface is as follows:

[0033] The formula for the sliding surface:

[0034] the s k =Gx k -GAx k-1 (3)

[0035] where xk-1 is the state variable of the dynamic model of the networked control system at time k-1, s k is the sliding mode function at time k, and G is the parameter matrix of the sliding mode surface to be designed. In order to guarantee the non-singularity of GB and condition Choose G=B T P, P is a positive definite matrix to be solved.

[0036] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to a sliding mode control method with random nonlinear disturbance. In order to solve the problems that random switching nonlinearity, state time delay and uncertainty cannot beprocessed simultaneously through an existing sliding mode control method, consequently, system output is greatly affected by external disturbance, and the sliding mode control precision is low, the sliding mode control method with random nonlinear disturbance comprises the steps that 1, a dynamic model of a networked control system with the random switching nonlinearity and the bounded state timedelay is established; 2, design of a sliding mode face is conducted on the dynamic model established in the step 1; 3, sliding mode dynamic of the sliding mode face is calculated; 4, the distinguish condition for ensuring the sliding mode dynamic H<infinity> is obtained, and a sliding mode face parameter matrix G is obtained by solving the distinguish condition; and a sliding mode controller is constructed according to the obtained parameter matrix G. Sliding mode control over the networked control system with the random switching nonlinearity and the bounded state time delay is achieved. Thesliding mode control method is used for the field of networked control.

Description

technical field [0001] The invention relates to the field of networked control, in particular to a sliding mode control method with random nonlinear disturbance under uncertain probability. Background technique [0002] Sliding mode control is an important research branch in the field of control, and has been widely used in robot manipulation, aerospace, sewage treatment systems and other fields. However, practical engineering systems are inevitably affected by various random factors, such as random nonlinear disturbances, noise, and so on. Among them, random nonlinear disturbance is very common and usually affects the actual system with a certain probability. Due to technical limitations or other factors, it is difficult to obtain the exact occurrence probability of this random nonlinear disturbance, but it is easy to know the specific distribution interval of the probability. In addition, systems are often subject to both network-induced time delays and system modeling u...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡军张盼盼张红旭陈东彦石宇静计东海
Owner HARBIN UNIV OF SCI & TECH
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