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Adaptive multivariable generalized superhelix method

A multi-variable, super-helical technology, applied in the direction of adaptive control, instrumentation, control/regulation system, etc., can solve problems such as uncertain interference, and achieve the effect of improving convergence speed and suppressing tremor phenomenon

Active Publication Date: 2019-01-08
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0002] The traditional super-helical algorithm can only deal with disturbances that satisfy the Lipschitz continuous condition, but cannot solve the uncertain disturbances that change with the state. Uncertainty

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Embodiment Construction

[0016] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0017] The present invention provides an adaptive multivariable generalized superhelix method, which adds a linear term to the helix algorithm to form a multivariate generalized helix algorithm, which can simultaneously solve the derivative bounded disturbance and the system uncertainty that changes with the state. The adaptive algorithm estimates the disturbance information and involves the Lyapunov function to verify the stability of the multivariable system.

[0018] The concrete steps of the inventive method comprise:

[0019] Step S1, determine the multivariate system with internal perturbation and external perturbation, get:

[0020]

[0021] where x∈R n ,u∈R n is the input of multivariate system state, Δf(x)∈R n is the uncertainty of the multivariate system, d∈R n is the external disturbance; based on th...

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Abstract

The invention discloses an adaptive multivariable generalized superhelix method. The adaptive multivariable generalized superhelix method comprises the steps of determining a multivariable system containing internal perturbation and external disturbance, constructing a control input of the multivariable system, constructing an adaptive law of the multivariable system, and then checking the stability of the multivariable system. By adoption of the method, the derivative bounded interference and system uncertainty can be handled at the same time, meanwhile the information of interference does not need to be known in advance, and the method can be applied to the multivariable system.

Description

technical field [0001] The invention belongs to the technical field of sliding mode control; in particular, it relates to an adaptive multivariable generalized superhelix method. Background technique [0002] The traditional super-helical algorithm can only deal with disturbances satisfying the Lipschitz continuous condition, but cannot solve the uncertain disturbances that change with the state. Uncertainty. Another limitation of the super-helical algorithm is that it can only deal with bounded disturbances, and it is necessary to obtain the upper bound of the interference of the bounded disturbances. With the development of the Lyapunov equation for the super-helical algorithm in recent years, by combining the adaptive parameter method, it can be Avoid the need to know the upper bound on the disturbance in advance. On the other hand, the existing supercoil algorithms are all designed for univariate, and most dynamical systems are multivariate systems, so Nagesh et al. T...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 袁建平魏锦源宁昕王铮方静徐杨李晨熹彭志旺
Owner NORTHWESTERN POLYTECHNICAL UNIV
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