Predetermined performance control method based on preset track

A control method and performance technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as the singularity of the control law, and achieve the effect of high control reliability

Active Publication Date: 2021-02-05
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to overcome the singularity problem of the control law existing in the existing predetermined performance control method, the present

Method used

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  • Predetermined performance control method based on preset track
  • Predetermined performance control method based on preset track
  • Predetermined performance control method based on preset track

Examples

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Example Embodiment

[0069]Examples:

[0070]Here, a certain representative embodiment is introduced to further illustrate the related design in the technical solution of the present invention.

[0071]Consider the following van der Pol oscillation system with interference:

[0072]

[0073]among them,d(t)=0.1sin10t, x(0)=1.4,The control law is required to make the variable x track the reference signal xd(t)=cost, and tracking error e(t)=x(t)-xd(t) Satisfaction: the maximum overshoot is not more than σ=0.1, and the convergence speed of the dynamic process is not slower than e-ct ,c=1, the adjustment time is not greater than Tf=1s, the steady-state error is not more than ρ∞= 0.01.

[0074]According to the design requirements, the performance function is ρ(t)=(ρ0-ρ∞)e-ct +ρ∞, Where ρ0= 0.5. According to the performance function, the performance envelope is constructed as the area between the curve -δρ(t) and the curve ρ(t), where δ=|e(0)|σ / ρ0= 0.08.

[0075]The piecewise cubic polynomial interpolation is used to generate t...

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Abstract

The invention discloses a predetermined performance control method based on a preset track. The method comprises the following steps of: 1, defining a control object and a performance requirement; 2,constructing a performance function and a performance envelope of a system; 3, generating an expected error track in the performance envelope; 4, designing a sliding mode control law to enable the actual error to move along the expected error track so as to ensure that the actual error moves in the performance envelope; and step 5, checking the performance of a predetermined performance control law. According to the method of the invention, the common singularity problem of an existing predetermined performance control method is avoided, and a new predetermined performance control method basedon a preset track is provided. Because the singularity problem of the control law brings potential risks to the actual engineering, the method can guarantee that higher control reliability is obtained.

Description

technical field [0001] The invention belongs to the technical field of automatic control and relates to a nonlinear control method, in particular to a predetermined performance control method based on a preset trajectory. Background technique [0002] The so-called predetermined performance control refers to designing a control algorithm for a given controlled object to make the closed-loop system stable and have preset transient performance and steady-state performance, such as making the tracking error e(t) move within a given performance envelope , which satisfies e(t)∈(-δ m ρ(t),δ M ρ(t)), where δ m >0,δ M >0 are two constants, and ρ(t)>0 is a given performance function. The existing scheduled performance control methods include funnel control, scheduled performance control based on nonlinear mapping and scheduled performance control based on barrier Lyapunov function. However, through careful analysis, it is not difficult to find that these predetermined p...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 侯明哲
Owner HARBIN INST OF TECH
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