Nonlinear system robust self-adaption tracking and controlling method based on unknown target traces

Abstract

The invention discloses a nonlinear system robust self-adaption tracking and controlling method based on unknown target traces. The nonlinear system robust self-adaption tracking and controlling method based on the unknown target traces comprises the following steps: step one, establishing a mathematic model of a multi-input and multi-output nonlinear system which has actuator faults; step two, establishing a model for estimating the ideal trace of the unknown target, wherein an estimated target trace obtained by the model is close to an ideal target trace; and step three, designing a robust self-adaption fault-tolerant controller. By the nonlinear system robust self-adaption tracking and controlling method based on unknown target traces, the estimated unknown target trace can be obtained, and is clear to the ideal target trace; 'virtual control gain' is subjected to matrix decomposition skillfully by the designed controller, so that limitation to conditions of a gain matrix in other control methods is greatly reduced; and finally, under the conditions that the system simultaneously has actuator faults, parameter uncertainty and external interferences and the tracked target trace is unknown, asymptotic tracked steady-state performance can still be obtained, and therefore, a closed-loop control system has robust self-adaption effect on an uncertain model and unknown interference.

Description

technical field [0001] The invention relates to the field of nonlinear system control, in particular to an adaptive control method when the trajectory of the tracking target is unknown. Background technique [0002] The tracking control design of most dynamical systems generally assumes that the ideal tracking trajectory is known or can be easily obtained. However, in real life, not all ideal trajectories can be obtained easily, and the ideal tracking trajectories cannot be used in tracking control design. In addition, this phenomenon widely exists in a variety of practical examples, for example: in the process of missile launch, in order to avoid the interception of enemy missiles, our missiles will deliberately change their ideal trajectory, so that the original ideal tracking trajectory It cannot be used in the design of missile control; in the field of industrial robots, the robot will track "fuzzy" trajectories for special reasons, and the ideal tracking trajectory can...

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Problems solved by technology

[0003] At present, there are not many control methods for nonlinear systems that track the trajectory of an unknown ideal target. The only remaining method is to obtain the relationship between the unknown trajectory and the ideal trajectory, and then use this relationship to design the controller, but this does not solve how A method for obtaining an unknown ideal trajectory

[0004] In particular, actuator failures are always inevitable in practical systems. When the system is tracking an unknown ideal target trajectory, actuators fail unexpectedly. This has very high requirements for the controller, which cannot be achieved with the current existing technology. tracking performance, it is necessary to redesign a controller with simple structure, good performance and simple calculation

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