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Intelligent anti-interference control method for saturated nonlinear system

A nonlinear system and control method technology, applied in the field of intelligent anti-disturbance control of saturated nonlinear systems, can solve the problems that saturated nonlinear systems cannot be processed at the same time, nonlinear system coupling uncertain factors, traditional control method differential explosion, etc.

Pending Publication Date: 2022-02-22
NANJING UNIV OF TECH +1
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Problems solved by technology

[0007] The purpose of the present invention is to provide an intelligent anti-disturbance control method for a saturated nonlinear system, which solves the problem that the existing saturated nonlinear system cannot simultaneously deal with the coupling uncertain factors in the nonlinear system and the traditional control method has the influence of "differential explosion" question

Method used

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  • Intelligent anti-interference control method for saturated nonlinear system
  • Intelligent anti-interference control method for saturated nonlinear system
  • Intelligent anti-interference control method for saturated nonlinear system

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Embodiment Construction

[0080] Such as Figure 1-Figure 9 An intelligent anti-disturbance control method for a saturated nonlinear system is shown, comprising the following steps:

[0081] Step 1: Establish a distributed server, and establish a model establishment server, a neural network server, an extended state observation server, a nonlinear system control server and a client in the distributed server;

[0082] Step 2: The model building server collects the system state η of the nonlinear system and the total time-varying disturbance q of each dynamic channel i (t), and the nonlinear system model is established by the following formula:

[0083]

[0084]

[0085]

[0086]

[0087] the y o = η 1

[0088] in, for and vector The relevant unknown nonlinear function, T represents the transpose of the matrix, i represents the dynamic channel, and the value of i is i=1,...,n, n represents the number of dynamic channels, t represents the time variable, y o is the system output, α is ...

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Abstract

The invention discloses an intelligent anti-interference control method for a saturated nonlinear system, and belongs to the technical field of robots. The method includes: taking an uncertain nonlinear system as a research object, and taking an instruction of which the output can accurately track expectation under the common influence of coupling uncertain factors such as saturated nonlinearity, nonlinear dynamic, external interference and the like as a control target, performing estimation and feed-forward compensation on non-matching and matching unknown nonlinear dynamic states through a radial basis function neural network; performing estimation and feed-forward compensation on non-matching external interference and matching external interference through an extended state observer; aiming at the influence of'differential explosion 'existing in the controller, performing optimization through a control strategy based on instruction filtering backstepping; and aiming at the influence of saturation and filtering errors, performing real-time compensation through an auxiliary system based on the saturation and filtering errors. According to the method, it can be guaranteed that system output can accurately track expected instructions, the influence of differential explosion is avoided, and application in complex working conditions is better facilitated.

Description

technical field [0001] The invention belongs to the technical field of automatic control and relates to an intelligent anti-disturbance control method for a saturated nonlinear system. Background technique [0002] Unavoidable coupling uncertain factors such as saturated nonlinearity, nonlinear dynamics, and external disturbances in nonlinear systems will lead to unsatisfactory control effects and even system instability. Important fields such as industry and engineering, such as automobile suspension systems, hydraulic load simulators, and weapon launching device follow-up systems, are inseparable from the control of nonlinear systems. With the continuous advancement of the technical level in these fields, a high-performance nonlinear control system is urgently needed as a support, and the control performance obtained by the traditional linearization method cannot meet the system requirements gradually. The coupling uncertain factors in nonlinear systems have gradually bec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨贵超王华洪荣晶陈捷
Owner NANJING UNIV OF TECH
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