Robust adaptive anti-interference control method

Abstract

The invention relates to a robust adaptive anti-interference control method which is applied in a robust adaptive anti-interference control system. The control system comprises a controlled object, areference model, an extended state observer ESO, an adaptive mechanism, an input adaptive adjustor and a feedback adaptive regulator. The method comprises a step of performing feedback compensation byusing an ESO estimating system, and a step of constructing a state error xm-z between a reference model and an ESO observer, combining a robust adaptive design method and obtaining adaptive laws based on an input adaptive regulator adjustment parameter K and a feedback adaptive regulator adjustment parameter F such that all signals in a closed-loop dynamic system are uniformly bounded, wherein atracking e=xm-z, an observation error e<->=Xp-Z and parameters K and F are included, and the adaptive laws comprises an adaptive control law and an adaptive adjustment law. According to the method ofthe present invention, external interference can be actively observed and compensated, and the influence of noise on the system can be reduced.

Description

technical field [0001] The invention belongs to the field of adaptive control, and in particular relates to a robust adaptive anti-disturbance control method. Background technique [0002] In actual control engineering, the controlled object is often difficult to establish an accurate mathematical model due to factors such as complex mechanism and uncertainty; adaptive control provides a design idea to overcome the influence of uncertainty, when the object is running online When the model parameters change, if the control performance declines, the controller parameters are also adaptively adjusted to overcome the influence of model changes and ensure control performance. Another type of method is anti-disturbance control, which actively estimates the disturbance to the system through the disturbance observer, and performs feedback compensation to overcome the influence of the disturbance on the system. [0003] The above two types of methods have their own advantages, but t...

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Problems solved by technology

[0003] The above two types of methods have their own advantages, but there are also certain defects. For example, although the adaptive control method has the ability of parameter adaptive adjustment, when the system is subjected to external disturbances, the parameter adjustment may be relatively slow, and it is difficult to quickly overcome the influence of disturbances. , if the adaptive law is not well designed, it is difficult to achieve high-performance control effect; while the anti-disturbance control mainly relies on the estimation of the disturbance by the observer, and the control effect is related to the bandwidth of the observer. more sensitive

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