摘要
针对非仿射纯反馈非线性系统的控制难题,使用了一种自耦PID (ACPID)控制方法。该方法通过引入一个未知状态和一个未知扩张状态,将未知非仿射纯反馈非线性系统映射为等价的未知线性仿射系统,并构建了一个在扩张状态反相激励下的受控误差系统,进而设计了以速度因子为核心耦合因子的自耦PID协同控制律模型。在复频域分析了ACPID协同控制系统的全局鲁棒稳定性,仿真结果验证了所提控制方法的有效性,在未知非线性复杂系统控制领域具有重要的理论意义和广泛的应用前景。
To solve the control problem of non-affine pure-feedback nonlinear system,an auto-coupling PID(ACPID) control method is proposed in this paper.The unknown non-affine pure-feedback nonlinear system is mapped to an equivalent unknown linear affine system by introducing an unknown state and an unknown extended state in the proposed method,and a controlled error system under the extended state inverse excitation is constructed.Furthermore,an auto-coupling PID collaborative control law model with speed factor as the core coupling factor is designed.The global robust stability of ACPID cooperative control system is analyzed in the complex frequency domain.The simulation results verify the effectiveness of the proposed control method,which has important theoretical significance and wide application prospect in the control field of unknown nonlinear complex systems.
作者
刘文珏
曾喆昭
LIU Wen-jue;ZENG Zhe-zhao(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410076,China)
出处
《控制工程》
CSCD
北大核心
2022年第7期1264-1270,共7页
Control Engineering of China
基金
湖南省教育厅重点项目(21A0183)。
作者简介
刘文珏(1989-),男,湖南长沙人,研究生,主要研究方向为智能控制等;通信作者:曾喆昭(1963-),男,湖南蓝山人,博士,教授,主要从事智能计算与智能控制等方面的教学与科研工作,Email:508984293@qq.com。
