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Predetermined performance control method based on finite time extended state observer

An extended state observation and finite time technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as singularity

Inactive Publication Date: 2019-10-25
TIANJIN UNIV
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Problems solved by technology

However, the traditional scheduled performance control requires the initial value of the tracking error to be within the set boundary, and there is a singularity problem, so a new scheduled performance controller needs to be designed to solve this problem

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  • Predetermined performance control method based on finite time extended state observer
  • Predetermined performance control method based on finite time extended state observer
  • Predetermined performance control method based on finite time extended state observer

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Embodiment Construction

[0111] In order to overcome the shortcomings of the existing technology, a predetermined performance control method based on the finite-time extended state observer is proposed. This method can not only make the observation error of the extended state observer converge to zero in a limited time, but also make the tracking error follow the preset A certain transient (such as overshoot, convergence time) and steady-state performance (such as steady-state error) convergence. The technical scheme adopted in the present invention is a predetermined performance control method based on a finite time expansion state observer, including:

[0112] 1. n+1 order finite time extended state observer

[0113] In engineering practice, the dynamic model and control gain of the system are often difficult to establish and determine accurately, and there are various uncertainties. By introducing the concept of total disturbance, most industrial control systems can be modeled as a single-input si...

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Abstract

The invention belongs to the field of design of controllers for single-input single-output systems. For providing a predetermined performance control method based on a finite time extended state observer, enabling an observation error of the extended state observer to be converged to zero in finite time and enabling a tracking error to be converged according to preset transient and steady-state performance (such as a steady-state error), the invention adopts the technical scheme that the predetermined performance control method based on the finite time extended state observer takes internal uncertainty of a system and external disturbance as the 'total disturbance' of the system and takes the 'total disturbance' as an extended state, then the finite time extended state observer is designedfor observing the extended state, so as to enable the observation error to be converged to zero in the finite time, and then the total disturbance is compensated when a predetermined performance controller is designed, so as to enable the tracking error to be converged according to preset performance. The predetermined performance control method provided by the invention is mainly applied to an automation occasion.

Description

technical field [0001] The invention belongs to the field of controller design for single-input and single-output systems, in particular to a finite time expansion state observer and a predetermined performance control method designed according to the observer. Background technique [0002] In industrial control, proportional-integral-derivative (PID) control occupies a dominant position. Although PID control has certain robustness, there are a lot of internal parameter uncertainties and external disturbances in the actual system. When the disturbance is too large, its Control performance will be seriously affected, and even cause system instability. The ADRC method inherits the advantages of classical and modern control theories. Its main idea is to take the internal and external disturbance as the "total disturbance" of the system, expand it into a new state, and use the extended state observer to observe this new state and compensate it in the controller. This method do...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王一晶常绍平左志强
Owner TIANJIN UNIV
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