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Model-free adaptive sliding mode control method based on discrete extended state observer

A model-free adaptive and extended state technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as difficult estimation, complicated controller, complex dynamics of pseudo-partial derivative parameters, etc. To achieve the effect of simplifying the construction

Active Publication Date: 2022-01-21
JIHUA LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, pseudoderivative parameters have complex dynamics in complex nonlinear systems and are thus difficult to estimate, making controllers for model-free adaptive control complex and cumbersome
[0005] For the above problems, there is no effective technical solution

Method used

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  • Model-free adaptive sliding mode control method based on discrete extended state observer
  • Model-free adaptive sliding mode control method based on discrete extended state observer
  • Model-free adaptive sliding mode control method based on discrete extended state observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0153] The controller composed of equations (13), (14) and (24) is applied to the steam-water heat exchanger system.

[0154] The system satisfies:

[0155] (26)

[0156] in, (27)

[0157] Among them, u(k) represents the input value at time k, and y(k) represents the output value at time k.

[0158] More specifically, u(k) is the input power at time k, and y(k) is the output temperature at time k. The controller of the embodiment of the present application is used in this system to automatically adjust and stabilize the output of the system at a predetermined value. within the set range.

[0159] consider tracking goals , the external disturbance is , after selecting the appropriate initial value and control parameters according to the control method of the embodiment of the application, design the corresponding controller to perform sliding mode control, and obtain the following figure 2 and image 3 The tracking error trajectory shown by, image 3 for figu...

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Abstract

The invention relates to the technical field of automatic control and particularly discloses a model-free adaptive sliding mode control method based on a discrete extended state observer. The method comprises the following steps of converting a discrete nonlinear system with external disturbance into an affine system; estimating a linear parameter item by adopting an adaptive method, and estimating an unknown nonlinear time-varying item by adopting a discrete extended state observer; defining a convergence boundary of the tracking error, and converting the tracking error constrained by the convergence boundary into an unconstrained variable; designing a sliding mode function according to the unconstrained variable; and designing a controller according to the affine system and the sliding mode function. According to the method, an original discrete nonlinear system with external disturbance can be converted into an affine system based on a discrete extended state observer, so simplification and reconstruction of the system are achieved, and closed-loop stable control over the discrete nonlinear system with the external disturbance is achieved.

Description

technical field [0001] The present application relates to the technical field of automation control, in particular, to a model-free adaptive sliding mode control method based on a discrete extended state observer. Background technique [0002] With the continuous development of engineering technology, the complexity of control systems is increasing, making the accurate modeling of the system the most difficult task. [0003] Traditional control strategies based on system mathematical models are no longer suitable for increasingly complex control systems. To overcome such problems, data-driven control methods using only input and output data have emerged. Data-driven control methods have been applied in many practical scenarios, such as on four-wheel drive vehicles, autonomous vehicles, robots, and other industrial process systems; model-free adaptive control methods are one of the data-driven methods. [0004] For the original nonlinear system with uncertainties and distur...

Claims

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Application Information

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IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 黄秀韦董志岩陈海龙李志建邓涛霍震古家威何昊名高桑田
Owner JIHUA LAB