Command filtering backstepping control method based on interference observer

Abstract

The invention relates to a command filtering backstepping control method based on an interference observer. An anti-interference non-linear controller is designed according to a multi-source interference non-linear system. The command filtering backstepping control method comprises the following steps of firstly building a non-linear mathematical model of a multi-source interference system; secondly designing equivalence interference in an estimation system of the non-linear system interference observer; then substituting equivalence interference estimated values obtained from the non-linear system interference observer into a command filtering backstepping controller, building the command filtering backstepping controller; and finally using a pole allocation method to design command filtering backstepping controller gain and non-linear interference observer gain for guaranteeing a closed loop composite error system to asymptotically be stable. The command filtering backstepping control method is strong in anti-interference capability, and can be applied to anti-interference control for systems such as aircrafts, mechanical arms, biochemical processes and ships.

Description

technical field [0001] The invention relates to a command filtering backstepping control method based on a disturbance observer. The method is a nonlinear system anti-interference control method and can be used for anti-interference control of systems such as aircraft, manipulators, biochemical processes, and ships. Background technique [0002] The backstepping method is a systematic nonlinear control method that emerged in the 1990s. "Backstepping" reflects the recursive nature of the design steps. Its basic design idea is to divide the complex high-order nonlinear system into multiple low-order subsystems, start from the subsystem farthest from the system control input, obtain the virtual control quantity to ensure the stability of the subsystem by constructing part of the Lyapunov function, and gradually Back to the control input, so as to get the final controller, in the process, the Lyapunov functions of the whole system are also constructed one after another. The adv...

AI Technical Summary

Problems solved by technology

The command filtering backstepping control method is a model-based control method, which requires the system model to be accurately known; due to the multi-source interference in the actual system, the control effect of the command filtering backstepping control method becomes worse, and even the stability of the closed-loop system cannot be guaranteed.

The existing disturbance observer-based feedback control method is implemented by subtracting the disturbance estimate from the feedback control law, so its disadvantage is that it can only compensate the equivalent disturbance in the same channel as the control input, that is, the case where the disturbance matches the control input

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