Data-driven adaptive anti-interference controller structure and estimation method thereof

Abstract

The invention discloses a data-driven adaptive anti-interference controller structure and a working method thereof. The controller structure comprises an input controller, an extended state observer,a control gain estimation module and a second-order nonlinear system; and the second-order nonlinear system is a second-order nonlinear system with unknown control gain. The input controller only needs the parameters output by the control gain estimation module and does not need a control gain parameter b; when the control gain of the second-order nonlinear system is unknown, the uncertainty and the control gain of the second-order nonlinear system are estimated online at the same time. By establishing the control gain estimation module, the online estimation of the control gain of the second-order nonlinear system within finite time is realized. By introducing the state tracking error signal xe, the effective tracking of the expected state is achieved, the control state is converged to the expected state, the parameter estimation accuracy is effectively guaranteed, and the accurate control over the second-order nonlinear system is achieved.

Description

technical field [0001] The invention relates to the field of adaptive control, in particular to a data-driven adaptive anti-jamming controller structure and an estimation method thereof. Background technique [0002] Control is to control the controlled object with appropriate control force, and the purpose of control is to make its motion change in the expected way under various disturbances, that is, according to the given target trajectory or set value. For a controlled object, there is an error between his expected behavior and actual behavior, how to eliminate this error is the core problem of control theory research. In the past, people often used PID (proportional, integral, differential) controllers based on error control to eliminate controller errors. The principle of PID controllers is the weighted sum of the "past, current state and future trend" of errors. The PID controller is welcomed by the industrial field because of its simple structure, wide practical ran...

AI Technical Summary

Problems solved by technology

[0004] First, in the existing ESO-based adaptive anti-jamming controller method, the control gain needs to be used when designing the control signal. When the control gain of the nonlinear system is unknown and the control gain is not easy to obtain, it cannot output effective control signal, the design of the controller control input cannot be completed

[0005] Second, in the existing ESO-based adaptive anti-jamming controller method, the system can only rely on external control input, which cannot achieve effective tracking of the desired state, and cannot guarantee that the actual state converges to the desired state

At the same time, it cannot adapt to the change of state parameters within a limited time, and cannot effectively guarantee the real-time performance of nonlinear systems.

[0006] Third, in the existing ESO-based adaptive anti-jamming controller method, only the uncertainty of the system can be estimated, and the control input gain of the system cannot be estimated at the same time

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