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Composite Disturbance Learning Control Method for Nonlinear Strict Feedback Switched Systems

A switching system and learning control technology, which is applied in the field of flight control, can solve problems such as poor practicability, achieve the effects of facilitating engineering applications, avoiding complexity explosion problems, and improving control performance

Active Publication Date: 2022-06-21
NORTHWESTERN POLYTECHNICAL UNIV +1
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Problems solved by technology

[0005] In order to overcome the shortcomings of poor practicability of existing nonlinear switching system control methods, the present invention provides a nonlinear strict feedback switching system compound disturbance learning control method

Method used

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  • Composite Disturbance Learning Control Method for Nonlinear Strict Feedback Switched Systems
  • Composite Disturbance Learning Control Method for Nonlinear Strict Feedback Switched Systems
  • Composite Disturbance Learning Control Method for Nonlinear Strict Feedback Switched Systems

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Embodiment Construction

[0132] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[0133] refer to figure 1 , the specific steps of the composite disturbance learning control method of the nonlinear strict feedback switching system of the present invention are as follows:

[0134] Step 1: Consider the Longitudinal Short Period Dynamics Model of the Variant Aircraft

[0135]

[0136] where V is the flight speed, α is the angle of attack, γ is the track angle, θ is the pitch angle, and q is the pitch rate; L, T, and M y are lift, thrust and pitching moment, respectively; Z T is the power position; and are the inertial force and moment of inertia caused by the variant, respectively; m, g, I y and S x are the weight of the aircraft, the acceleration of gravity, the moment of inertia of the pitch axis, and the components of the aircraft's static moment on the x-axis;

[0137] Forces and moments are defined as

[0138]

[0139...

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Abstract

The invention relates to a compound disturbance learning control method for a nonlinear strict feedback switching system, which is used to solve the technical problem of poor practicability of the existing nonlinear switching system control method. The technical solution is to consider the external disturbance and input dead zone of the nonlinear strict feedback switching system, and transform the system model; use the neural network to approximate the unknown nonlinear function of the system, and design a switching disturbance observer to estimate the composite disturbance; design an automatic control system based on the dynamic inverse control framework. Adapt to the neural network switching controller; construct the prediction error by designing a parallel estimation model, and introduce the prediction error into the adaptive update law of the neural network weight and the design of the switching disturbance observer, which improves the accuracy of uncertain learning; the present invention combines nonlinear Switching system control characteristics, the control performance is effectively improved by designing a composite disturbance learning controller, which is suitable for engineering applications.

Description

technical field [0001] The invention relates to a control method for a nonlinear switching system, in particular to a compound disturbance learning control method for a nonlinear strict feedback switching system, which belongs to the field of flight control. Background technique [0002] In practical engineering, many control objects such as variant aircraft, variable frequency motors, and robots can be described by nonlinear switching systems. Therefore, the control technology of nonlinear switching systems has attracted extensive attention. researched and applied. [0003] The nonlinear switching system itself has strong uncertainty, and is easily affected by external disturbance and input dead zone. The existing control methods mostly use intelligent systems such as neural network or fuzzy logic to approximate the uncertainty, and use disturbance observer to estimate the uncertainty. external interference. These control methods only consider the approximation effect of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/027G05B13/042
Inventor 许斌程怡新马波
Owner NORTHWESTERN POLYTECHNICAL UNIV
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