Cooperative control method for mixed-order electromechanical systems based on estimated state disturbance observation

Abstract

The method of coordinated control of mixed-order electromechanical systems based on estimated state disturbance observation solves the problem that the existing mixed-order multi-agent electromechanical systems cannot achieve cooperative control under the condition of unmeasurable full states of themselves and neighboring members and under the condition of unknown external disturbances The goal problem belongs to the field of collaborative control of mixed-order multi-agent systems. The invention includes: establishing a mixed-order electromechanical system controlled object model with unknown control parameters; obtaining the position estimation and speed estimation of the controlled object according to the model; obtaining the controlled object based on the estimated state according to the obtained position estimation and speed estimation The disturbance estimation and synchronous tracking error of the object; according to the synchronous tracking error and disturbance estimation of the controlled object, obtain the sliding mode tracking error of the controlled object based on the estimated state; according to the synchronous tracking error, sliding mode tracking error and disturbance of the controlled object Estimation, the control law of the controlled object is obtained, and the coordinated control of the mixed-order electromechanical system is carried out according to the control law.

Description

technical field [0001] The invention belongs to the field of cooperative control of mixed-order multi-agent systems, in particular to a mixed-order electromechanical system cooperative control method based on estimated state disturbance observation. Background technique [0002] The research on multi-agent cooperative control originates from the group movement phenomenon of animals or insects, and mainly includes research directions such as consistency, formation control, estimation and optimization. Among them, consistency is about the control problem of each agent member reaching equilibrium or consistent state under the action of distributed cooperative control law. Consistency mainly includes consistency adjustment and consistency tracking: consistency adjustment is that each agent member finally reaches an unset equilibrium state according to its own initial conditions, so it is also called leaderless consistency; and consistency tracking problem There is usually one r...

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Problems solved by technology

[0003] Aiming at the problem that the existing mixed-order multi-agent electromechanical system cannot achieve the cooperative control goal under the condition that the full state of itself and neighboring members is unmeasurable and under the condition of unknown external disturbance influence, the present invention provides a method based on estimated state disturbance observation Cooperative control method for mixed-order electromechanical systems

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