Non-linear discrete system model-free adaptive sliding mode constraint event trigger control method

Abstract

The invention relates to a non-linear discrete system model-free adaptive sliding mode constraint event trigger control method. The method comprises the steps: collecting input and output data of a system; determining a pseudo-partial derivative estimation algorithm based on an observer according to input and output data of the system, and setting an event triggering error and an event triggering condition; designing a control algorithm according to the event triggering condition and the pseudo-partial derivative estimation algorithm to obtain control input and output data of the system; converting output data of the system into an oscillogram, comparing the oscillogram with an oscillogram of an expected value, judging whether an expected control effect is achieved or not, if so, ending the operation, and if not, returning to the step 1 until the expected control effect is achieved. According to the method, an accurate model of the controlled system does not need to be established, and an event triggering mechanism is designed, so that the controller only updates the control signal when the set event triggering condition is met, the execution times of the controller are reduced, and the calculation and communication burden is relieved while the control effect is ensured.

Description

technical field [0001] The invention relates to the technical field of data-driven control, in particular to a model-free adaptive sliding mode constraint event trigger control method for a nonlinear discrete system. Background technique [0002] Model-free adaptive control (MFAC) is a data-driven control method, which has been rapidly developed and widely used in recent years because of its advantage of not needing to establish a system model. This method needs to estimate the pseudo partial derivative online and update the control input of the system in real time, which will inevitably have certain requirements on the computing power and data storage capacity of the system. Event-triggered control (event-triggered control, ETC) has received more and more attention in recent years because of its advantages of saving system resources and reducing computing burdens. The control signal and other designed algorithms will be updated only when it is satisfied. [0003] Currentl...

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Problems solved by technology

[0003] Currently, most of the data-driven control methods are based on time-triggered, that is, the algorithm will be executed at every sampling, which leads to some unnecessary computation and communication

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