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Non-linear system adaptive event trigger control method and system

A nonlinear system, event-triggered technology, applied in adaptive control, comprehensive factory control, general control system, etc., can solve the problems of fast stability of difficult nonlinear systems, easy to be disturbed by external environment, input saturation of nonlinear systems, etc. Achieve the effect of avoiding Zeno behavior, suppressing external interference, and ensuring stability

Pending Publication Date: 2022-08-05
GUANGDONG UNIV OF TECH
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Problems solved by technology

However, because the actual nonlinear system is easily disturbed by the external environment, and most of the actual nonlinear systems have input saturation, it is difficult for the existing nonlinear system adaptive control method to achieve the rapid stability of the nonlinear system, and the nonlinear system cannot Efficient Tracking of Reference Signals Under Constraints and Practical Interference

Method used

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  • Non-linear system adaptive event trigger control method and system
  • Non-linear system adaptive event trigger control method and system
  • Non-linear system adaptive event trigger control method and system

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Experimental program
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Embodiment 1

[0049] This embodiment provides a nonlinear system adaptive event-triggered control method, such as figure 1 shown, including the following steps:

[0050] Step 1: Obtain the reference signal y d and the controller output υ(0) at the initial moment, and obtain the nonlinear system control input u(υ(0)) at the initial moment.

[0051] Among them, the nonlinear system is a nonlinear system with input saturation and external disturbance. A dynamic model is established for the physical characteristics of a class of nonlinear systems with input saturation and external disturbances. The non-strict feedback nonlinear system with input saturation and external disturbances in this embodiment is as follows:

[0052]

[0053]

[0054] y=x 1 ,1≤i≤n-1

[0055] in, represents the state vector of the nonlinear system, x i represents a state component of the nonlinear system; means x i Derivative to time t; υ(t) represents controller output, t represents time; f i (x) and f n ...

Embodiment 2

[0114] This embodiment provides a nonlinear system adaptive event-triggered control system, which specifically includes the following modules:

[0115] a data acquisition module, configured to: acquire the reference signal and the controller output at the initial moment, and obtain the nonlinear system control input at the initial moment;

[0116] an auxiliary variable determination module, which is configured to: obtain a first auxiliary variable through the auxiliary system based on the reference signal, the controller output and the nonlinear system control input, and obtain the second auxiliary variable through coordinate transformation;

[0117] a disturbance term estimation module, configured to: obtain an estimated value of the disturbance term through the nonlinear disturbance observer based on the second auxiliary variable;

[0118] The controller output update module is configured to: acquire the dynamic signal in the dynamic event trigger mechanism, combine the firs...

Embodiment 3

[0123] This embodiment provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps in the adaptive event-triggered control method for a nonlinear system described in the first embodiment above .

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Abstract

The invention relates to the technical field of nonlinear system control, and provides a nonlinear system adaptive event trigger control method and system, and the method comprises the steps: obtaining a reference signal and controller output at an initial moment, obtaining nonlinear system control input at the initial moment, obtaining a first auxiliary variable through an auxiliary system, and obtaining a second auxiliary variable through coordinate transformation; obtaining a second auxiliary variable, and obtaining an estimated value of a disturbance term through a nonlinear disturbance observer; a dynamic signal in a dynamic event triggering mechanism is obtained, the controller output is updated through the virtual controller and the dynamic event triggering fuzzy controller in sequence, and the controller output is returned to the auxiliary system; wherein a dynamic event triggering mechanism of the dynamic event triggering fuzzy controller dynamically adjusts a threshold parameter of an event triggering condition; based on the second auxiliary variable, an adaptive law is obtained to update the virtual controller. And the triggering frequency of a dynamic event triggering mechanism is reduced.

Description

technical field [0001] The invention belongs to the technical field of nonlinear system control, and in particular relates to a nonlinear system adaptive event-triggered control method and system. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Nonlinear systems widely exist in important fields such as intelligent manufacturing and electric power. However, the complex structure, strong uncertainty and high coupling degree of nonlinear systems make the controller design process very difficult. Therefore, for a long time, nonlinear system control problem has always been a difficult problem in the field of industrial automation. In recent years, compared with the time-triggered technology that is prone to waste of communication resources, another event-triggered technology with more flexibility and higher utilization of communication resour...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 马慧任鸿儒周琪李鸿一鲁仁全
Owner GUANGDONG UNIV OF TECH
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