New mutual coupling PD cooperative control theory method

Abstract

Aiming at the control problem of an unknown nonlinear complex system, the invention discloses a new mutual coupling PD (MCPD) cooperative control theory method independent of a controlled object model. According to the method, dynamic and external uncertainties of the unknown system are defined as total disturbance, the unknown nonlinear complex system is mapped into an unknown linear system, thena controlled error system under the reverse excitation of the total disturbance is constructed, and an MCPD cooperative controller model with a central speed factor and the deviation rate of the central speed factor as a core is designed accordingly. It is theoretically analyzed that a closed-loop control system composed of an MCPD cooperative controller not only has global asymptotic stability robustness, but also has good anti-disturbance robustness. The advent of the MCPD cooperative controller not only can effectively solve the setting problem of a traditional PD controller, but also canprovide a scientific theoretical basis for evaluation and upgrading of the current PD control technology. The method has wide application values in the field of unknown nonlinear complex system control.

Description

technical field [0001] The invention relates to an unknown non-affine nonlinear complex system control, in particular to a new method of mutual coupling PD (Mutual-coupling PD, MCPD) cooperative control theory. Background technique [0002] For more than half a century, the classical control theory (cybernetics) based on the frequency domain design method and the modern control theory (model theory) based on the time domain design method have developed independently, forming their own methodological systems. In the practice of control engineering, the error between the control target and the actual behavior of the controlled object is easy to obtain and can be dealt with appropriately. Therefore, the prototype of the control strategy of "eliminating errors based on errors", that is, PID (Proportional-Integral -Derivative, PID) controllers have been widely used in the field of actual industrial control. As for the actual control engineering problems, it is usually difficult ...

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Problems solved by technology

[0005] However, the applied for invention patent "a two-speed adaptive proportional-derivative control method" still has two limitations: one is that the center speed deviation is: 0≤σc , it is not easy to grasp in practical application. Therefore, the present invention introduces the central velocity deviation rate 0≤σc = h -α (1.1-e -βt ), it is not convenient to adjust the central velocity factor according to the integral step size h; the third is that although the adaptive velocity factor model is generally effective, it may fail during the expected trajectory mutation period

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