Nonlinear system dynamic surface implicit inverse controller with unknown saturated PI hysteresis

Abstract

The invention discloses a nonlinear system dynamic surface implicit inverse controller with unknown saturated PI hysteresis. The nonlinear system dynamic surface implicit inverse controller comprisesthe following steps: 1) constructing a nonlinear system model with saturated PI hysteresis; 2) modeling a saturated PI model in the system; 3) defining an error performance conversion function with asaturated PI hysteresis nonlinear system to ensure that the tracking error of the system meets a predetermined performance index; and 4) combining an adaptive dynamic surface algorithm with an implicit inverse method to design a controller with a saturated hysteresis strict feedback nonlinear system. According to the controller, it can be ensured that the system tracking error meets the preset performance index, the problem that a hysteresis inverse model is difficult to construct is solved, the influence of the hysteresis phenomenon in the system is effectively solved, the system tracking error meets the L-infinity performance index, and stable operation of the system is achieved.

Description

technical field [0001] The invention belongs to the technical field of automation and relates to a nonlinear system dynamic surface hidden inverse controller with unknown saturation PI hysteresis. Background technique [0002] In the field of automation technology, with the continuous improvement of control accuracy and control speed of various precision processing and production equipment, in recent years, advanced sensing and driving technologies centered on intelligent materials such as piezoelectric ceramics and the resulting hysteresis Ring nonlinear phenomenon has become a new research hotspot. The hysteresis characteristic in the hysteresis nonlinear phenomenon cannot be expressed by the state relationship, and the change of the system also depends on the historical state of the motion, which has a certain non-local memory. Therefore, the nonlinear characteristics of hysteresis cannot be described by a simple state space, but a more complex mathematical expression is...

AI Technical Summary

Problems solved by technology

The first method is to offset the hysteresis phenomenon in the system by establishing a hysteresis inverse model; this method can effectively solve the hysteresis phenomenon in the system, but due to the complexity of the hysteresis itself, the hysteresis inverse model cannot The construction is also quite difficult, and even some hysteresis models cannot construct their inverse models

The second method is to deal with the hysteresis phenomenon in the system through a robust adaptive control algorithm, which solves the problem of the difficulty of constructing the hysteresis inverse model, but at the same time introduces the difficulty of understanding the hysteresis model

Images