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Non-linear system tracking control method with unknown gain and interference

A nonlinear system, tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the tracking control problem of nonlinear system has not been fully studied.

Active Publication Date: 2022-01-04
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the problem of tracking control for nonlinear systems with unknown gains and disturbances has been understudied so far, since it is more challenging to solve for the unknown gains while suppressing the disturbances

Method used

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  • Non-linear system tracking control method with unknown gain and interference
  • Non-linear system tracking control method with unknown gain and interference
  • Non-linear system tracking control method with unknown gain and interference

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Embodiment Construction

[0019] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

[0020] figure 1 It is a structural schematic diagram of a specific embodiment of the nonlinear system tracking control method with unknown gain and disturbance of the present invention.

[0021] Such as figure 1 As shown, the present invention relates to the design of disturbance observers containing nonlinear systems, the design of gain compensation algorithms based on Nussbaum's technique, and the design of tracking controllers based on backstepping.

[0022] Consider the following nonlinear system

[0023]

[0024] where y∈R and u(t)∈R denote the output and input o...

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Abstract

The invention discloses a non-linear system tracking control method with unknown gain and interference, and relates to the design of an interference observer containing a nonlinear system, the design of a gain compensation algorithm and the design of a tracking controller, including the design of the interference observer, the design of the gain compensation algorithm and the design of the tracking controller. According to the invention, in order to solve the interference problem in a nonlinear system, a sliding mode control-based interference observer is designed; in order to solve the unknown gain problem of a nonlinear system, a gain compensation algorithm based on the Nussbaum technology is designed; in order to realize tracking control, a tracking controller based on a backstepping method is designed; and the tracking control problem of a nonlinear system under unknown gain and interference can be effectively solved.

Description

technical field [0001] The invention belongs to the technical field of nonlinear system tracking control, and more specifically relates to a nonlinear system tracking control method with unknown gain and interference. Background technique [0002] In recent years, nonlinear systems have become a research hotspot because they can better describe the actual system. Usually, fuzzy or neural network techniques are used to estimate nonlinear functions in the system and utilize backstepping control methods to design controllers. Although many excellent research results have been reported, there are still many unsolved problems, such as perturbations and unknown gain functions, etc. [“Full-order observer for a class of nonlinear systems with unmatched dunce certainties: joint attractive ellipsoid and sliding mode concepts” (B. S′anchez, C. Cuvas, P. Ordaz, O. Santos-S′anchez, and A. Poznyak, IEEE Transactions on Industrial Electronics, vol.67, no.7, pp.5677-5686, 2020.)] For affi...

Claims

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Application Information

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IPC IPC(8): G05B13/02
CPCG05B13/024Y02P90/02
Inventor 李猛苗朕海陈勇刘越智
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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