Full-format model-free adaptive disturbance compensation control method for measurable disturbance

CN115903477BActive Publication Date: 2026-07-03ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
ZHEJIANG UNIV
Filing Date
2022-10-28
Publication Date
2026-07-03

AI Technical Summary

Technical Problem

Existing full-format model-free adaptive control methods have failed to effectively address the control problem of measurable disturbances on multi-input multi-output controlled objects, leading to a decline in system control performance or even instability.

Method used

By establishing a dynamic linearized data model under measurable disturbances, constructing cost and energy functions, optimizing pseudo-Jacobi input and pseudo-Jacobi disturbance matrices, and designing full-format adaptive input and full-format adaptive disturbance matrices, model-free adaptive disturbance compensation control for measurable disturbances can be achieved.

Benefits of technology

It effectively reduces the impact of measurable disturbances on the actual output value of the controlled object system, achieves accurate tracking of the expected output value of the system, and improves control performance.

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Abstract

This invention discloses a full-format model-free adaptive disturbance compensation control method for measurable disturbances. The method establishes a dynamic linearized data model of the controlled object under measurable disturbances; constructs and solves the cost function, optimizing and updating the pseudo-Jacobi input matrix and pseudo-Jacobi disturbance matrix; designs a full-format model-free adaptive disturbance compensation control scheme for measurable disturbances; constructs and solves the energy function, optimizing and updating the full-format adaptive input matrix and full-format adaptive disturbance matrix; and uses the control scheme of this invention to control the controlled object under measurable disturbances. The control method of this invention can significantly reduce the influence of measurable disturbances on the actual output value of the controlled object system, achieve effective tracking of the desired value trajectory, and significantly improve the disturbance compensation control performance.
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