Self-adaptive dynamic surface controller structure and design method thereof

Abstract

The invention discloses a self-adaptive dynamic surface controller structure and a design method thereof. An error feedback unit is added on the basis of self-adaptive dynamic surface control, a virtual given signal can be adjusted according to feedback tracking error information, and especially, the virtual given signal can be adjusted quickly to reduce tracking errors when the tracking errors are large, so that the problem of poor transient performance of a control system due to the tracking errors is solved. By introduction of the error feedback unit, saturation of an executor can be avoided effectively, and mechanical damages caused by dithering of control input signals to the executor can be reduced; a neural network is enabled to quickly and smoothly approach uncertainty in a controlled system, and tracking performance of the system is guaranteed without influences on robustness of a controller; the error feedback unit only plays a role in a transient process. By the design method of the controller, system stability can be guaranteed while transient performance of the control system is improved.

Description

technical field [0001] The invention relates to the field of nonlinear system control, in particular to an adaptive dynamic surface controller structure and design method. Background technique [0002] For the control problem of nonlinear systems, American scholar Swaroop et al. proposed the Dynamic Surface Control (DSC) method, which can be applied to a large class of nonlinear systems, and has the advantages of clear design process and simple controller structure. Therefore, it has been extensively researched and applied. [0003] Chinese scholar Wang Dan et al. proposed a neural network adaptive dynamic surface control method to solve a class of highly uncertain single-input single-output nonlinear system control problems; American scholar Song et al. proposed an observer-based The dynamic surface adaptive control method realizes the independent design of the observer and the controller, and is suitable for the situation where the state of the controlled system is not co...

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Problems solved by technology

[0004] However, when there is a large uncertainty in the controlled system, the existing adaptive dynamic surface technology scheme often needs to reduce the tracking error by selecting a large adaptive control parameter

However, in the transient transition process, especially when the tracking error is large, too large adaptive control parameters will cause overshoot and high-frequency oscillation of the control signal. In severe cases, it will cause actuator saturation or excite unmodeled dynamics, which will affect the control. system stability

The above defects that cannot guarantee the transient performance of the control system seriously restrict the development and application of adaptive dynamic surface control methods

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