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Anti-interference tracking control design method based on T-S fuzzy interference modeling

A tracking control and design method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as poor applicability

Pending Publication Date: 2021-07-16
YANGZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a kind of anti-interference tracking control design method based on T-S fuzzy interference modeling, solve the problem of poor applicability of existing DOBC method based on linear interference model

Method used

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  • Anti-interference tracking control design method based on T-S fuzzy interference modeling
  • Anti-interference tracking control design method based on T-S fuzzy interference modeling
  • Anti-interference tracking control design method based on T-S fuzzy interference modeling

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Embodiment 1

[0099] This embodiment takes a hypersonic vehicle as an example to illustrate the specific implementation of the method:

[0100] 1. Establish the motion equation and state equation of the hypersonic vehicle system:

[0101] The hypersonic vehicle is a complex nonlinear system. It adopts the Winged-cone hypersonic concept vehicle disclosed by Langley Laboratory in the United States. Its full-state nonlinear motion equation is as follows:

[0102]

[0103] Among them, x, y, z, V respectively represent the coordinates relative to the ground and the flight speed, m represents the mass of the aircraft, represents the track inclination angle, α represents the flight angle of attack, p, q, r represent the roll angular rate, pitch Angular rate and yaw rate, T x , T y , T z represent the thrust along the x, y, and z directions, respectively. g 0 is the standard gravitational acceleration, r is the radius of the earth, satisfying r=r 0 +h, μ is gravitational constant, L is lif...

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Abstract

The invention discloses an anti-interference tracking control design method based on T-S fuzzy interference modeling in the technical field of automatic control. The method comprises the following steps: 1, establishing a system state equation containing external interference; 2, establishing an interference model through a T-S fuzzy model, designing a PI tracking controller, and constructing a composite system; 3, designing a disturbance observer; 4, designing a compound control system based on the disturbance observer and the PI tracking controller; and 5, solving the control gain and the observer gain based on a convex optimization algorithm. The method realizes the effective suppression of system interference and dynamic tracking of system output, and having good robustness and high stability.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an anti-interference tracking control design method. Background technique [0002] As we all know, almost all control systems have external disturbances, such as motion control systems, robot manipulation systems, terminal sliding mode systems, Markov jump systems and flight control systems, etc. focus on. In order to maximize the applicable range of anti-interference, interference in nature can usually be divided into norm-bounded interference, harmonic interference, Gaussian / non-Gaussian interference, and interference generated by neutral and stable external systems. For different types of interference, scholars have proposed different control methods, for example, H ∞ Control for norm-bounded disturbances, stochastic control for Gaussian / non-Gaussian disturbances, output regulation theory for disturbances arising from neutral stable systems, DOBC method for neutral...

Claims

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Application Information

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IPC IPC(8): G05B13/04G06F17/11
CPCG05B13/042G06F17/11
Inventor 张晓莉裔扬吴旭栋周鹏
Owner YANGZHOU UNIV
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