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Non-uniform nonlinear system cooperative control method and control system capable of achieving control parameter adaptive compensation

A nonlinear system and self-adaptive compensation technology, which is applied in the direction of self-adaptive control, general control system, control/adjustment system, etc., can solve the problems of poor control effect and achieve the effect of improving precision

Active Publication Date: 2018-12-18
哈尔滨宇高电子技术有限公司
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Problems solved by technology

[0003] In order to solve the problem of poor control effect of existing nonlinear system cooperative control methods with fixed control coefficients, the present invention provides a non-uniform nonlinear system cooperative control method and control system with adaptive compensation of control parameters

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  • Non-uniform nonlinear system cooperative control method and control system capable of achieving control parameter adaptive compensation
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  • Non-uniform nonlinear system cooperative control method and control system capable of achieving control parameter adaptive compensation

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0028] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0030] Such as figure 1 As shown, the non-uniform nonlinear system cooperative control method with adaptive com...

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Abstract

The invention provides a non-uniform nonlinear system cooperative control method and control system capable of achieving control parameter adaptive compensation in order to solve the problem that thecontrol effect of an existing nonlinear system cooperative control method with fixed control coefficients is poor. The control method comprises the steps that a controlled nonlinear system model withtime-varying control parameters is built; synchronous tracking errors of various controlled nonlinear systems are acquired; a neural network nonlinear estimation model is built, and a neural network adaption law is acquired and used for estimating kinetic parameters in the controlled nonlinear system model; according to the control quantities of the controlled nonlinear systems and the acquired synchronous tracking errors, a time-varying control parameter adaption law is acquired and used for estimating control parameters in the controlled nonlinear system model; and a distributed control lawis acquired by combining the synchronous tracking errors, the neural network adaption law and the time-varying control parameter adaption law according to the controlled nonlinear system model, and the control quantities of the various controlled nonlinear systems are obtained according to the acquired distributed control law.

Description

technical field [0001] The invention relates to a cooperative control technology, in particular to a non-uniform nonlinear system cooperative control method with adaptive compensation of control parameters, a control system and a storage device, belonging to the field of cooperative control of electromechanical systems. Background technique [0002] The multi-agent cooperative control technology comes from the cooperative movement phenomenon of some animals in nature, and it mainly includes research directions such as consensus control, formation control, estimation and optimization. Consistency involves the control of each agent to achieve a certain balance or consistency under the action of the cooperative consensus control law. Consistency control mainly includes consistency adjustment problem and consistency tracking problem. Among them, consensus regulation involves each agent reaching an unpredetermined equilibrium state according to their respective initial states, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王国涛李晓杰王一光
Owner 哈尔滨宇高电子技术有限公司
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