Adaptive terminal dynamic sliding mode control method based on active disturbance rejection

Abstract

The invention discloses an adaptive terminal dynamic sliding mode control method based on active disturbance rejection. ESO is introduced, the ESO can estimate the state and the total disturbance of the system in real time only according to input and output information of a controlled object, more model information is provided for the design of sliding mode control, the total disturbance of the system is estimated in real time by using ESO, the total disturbance is compensated through a control law, the control gain can be reduced, and the control energy consumption can be reduced. In addition, the control precision can be improved by adding the information of the total disturbance into the design of the controller. In combination with a dynamic sliding mode control idea, the buffeting problem existing in traditional sliding mode control can be reduced to a great extent; in combination with a terminal sliding mode control idea, it can be ensured that the state of the controlled objectconverges to a balance point within limited time; actual conditions are fully considered, the upper bound of unknown part information of the system does not need to be acquired in advance by designingadaptive gain, and the problem that the upper bound of disturbance information in an actual system is difficult to acquire is solved.

Description

technical field [0001] The invention relates to the field of advanced control technology, in particular to an adaptive terminal dynamic sliding mode control method based on active anti-disturbance. Background technique [0002] With the development of science and technology, automatic control technology is widely used in production and life. The use of automatic control technology can greatly reduce the demand for manpower. At present, my country's automatic control technology has been widely used in various fields. However, compared with some developed countries, domestic automatic control technology still has a large room for development. Therefore, combining the current form of automatic control technology and In the future development trend, there is an urgent need to continue to study new control methods to further improve control accuracy and reduce costs. [0003] At present, among the existing control methods, sliding mode control has strong robustness to system dis...

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Problems solved by technology

[0004] In view of this, the present invention provides an adaptive terminal dynamic sliding mode control method based on active anti-interference to solve the following problems: 1. Control problems caused by difficult acquisition of plant model information; 2. Traditional linear sliding mode Mode control needs to obtain the upper bound of disturbance; 3. Cannot reach the equilibrium point in a limited time; 4. Chattering problem

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