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Adaptive neural network dynamic surface control method

A neural network control and dynamic surface control technology, applied in the field of tracking control, can solve problems such as tracking control of uncertain nonlinear strict feedback systems

Inactive Publication Date: 2022-02-08
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to implement a control method that introduces a neural network, approximates the unknown nonlinear function in the system, designs a parameter estimation control law, and then combines the dynamic surface control technology and the adaptive control method to solve the unknown Tracking control problem of uncertain nonlinear strict feedback system under control direction and unknown actuator fault, and effectively improve system tracking control accuracy

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[0172] Referring to the accompanying drawings, through the description of the embodiments, the specific embodiments of the present invention include the shape, structure, mutual position and connection relationship of each part, the function and working principle of each part, and the manufacturing process of the various components involved. And the method of operation and use, etc., are described in further detail to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

[0173] The invention is an adaptive neural network dynamic surface control method for solving the tracking control problem of an uncertain nonlinear strict feedback system, comprising the following steps:

[0174] Step 1, establishing a dynamic model of an uncertain nonlinear strict feedback system with unknown control direction and unknown actuator fault, the process is as follows:

[0175] 1.1 The ...

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Abstract

The invention discloses an adaptive neural network dynamic surface control method, and aims at the tracking control problem of an uncertain nonlinear strict feedback system with an unknown control direction and an unknown actuator fault. A neural network control method, a dynamic surface control technology and a self-adaptive control method are combined to design the adaptive neural network dynamic surface control method. On the basis of the neural network control method, unknown nonlinear dynamic approximation processing in the system is realized; on the basis of the dynamic surface control technology, derivation of a nonlinear function in the system is avoided by using a first-order low-pass filter; and on the basis of the self-adaptive control method, estimation of unknown parameters in the system is realized, and a parameter updating control law is obtained. The method provided by the invention can solve an uncertain nonlinear strict feedback system tracking control problem of the unknown control direction and the unknown actuator fault, and an expected tracking control problem is solved through a designed adaptive neural network dynamic surface control strategy.

Description

technical field [0001] The invention relates to the technical field of nonlinear control, in particular to a tracking control method for an uncertain nonlinear strict feedback system with unknown control direction and unknown actuator fault. Background technique [0002] Many systems in practice, such as mass-spring damping systems, mechanical systems, flight control systems, etc., usually need to consider nonlinear characteristics, uncertain dynamic characteristics and strict feedback dynamic characteristics when establishing mathematical models, which leads to uncertainty in the system model Nonlinear strict feedback form. However, due to the introduction of uncertain functions, the control direction of the system may be unknown. When the control direction of the system is unknown, the design of the controller will inevitably become complicated. In addition, due to the normal operation of the system, the actuator must function normally, but With the long-term and high-loa...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邓雄峰张陈魏利胜
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE