Research And Application Of New Robust Tracking Control Algorithm

Control algorithm innovation is important for all aspects of control theory and industrial control.Because of the simplicity of PID control,PID control methods are still commonly selected in industrial control.But in many cases PID control cannot meet people's requirements for system performance.On the one hand,although domestic and foreign scholars put forward many excellent control algorithms,these control strategies have some difficulties in the practical industrial applications.On the other hand,it is very difficult to make the controlled system achieve good tracking performance using current control algorithms when the target is an unknown signal with irregular changes.Control algorithm innovation is a difficult and significant thing.This paper mainly studies tracking control algorithm.From the simplest open-loop-tracking control as a starting point,through several improvements,a new robust nonlinear tracking control algorithm(GSSEPC)is finally formed.GSSEPC has the following characteristics:In terms of application scope: GSSEPC is suitable for almost all linear systems and some non-linear systems.In terms of tracking performance: controlled systems can yield high tracking performance with fast speed and almost no overshoot.Besides,if constant signal can be tracked with good performance,then in a certain degree any kind of signal can be tracked with the same GSSEPC controller.In the terms of application difficulty: in the process of controller design,controlled plant is treated as a black box.The parameters of controller can be adjusted according to system performance.A set of proper controller parameters can be easily found by several adjustments.Besides,Changes in the controller parameters within a certain range do not significantly degrade the tracking performance.Because controlled plant is treated as a black box,therefore,systems that can achieve good tracking performance in simulation can also achieve good tracking performance in real life.In terms of robustness: GSSEPC controller has strong robustness.The same GSSEPC controller can keep the controlled system always maintain good tracking performance when the parameters of controlled system change within a certain range.The same GSSEPC controller can even make the stabilization system,nearly unstable system and unstable system achieve good tracking performance.In terms of anti-disturbance,system output can quickly re-track the target signal when disturbance occur whether in system output position or in input position.The high efficiency of GSSEPC is fully verified by a large number of simulations using MATLAB Simulink.GSSEPC has been successfully applied to the fifth-order antenna servo system.GSSEPC achieves excellent performances in pointing the micro-mirror to track various kinds of signals in the experiment.Compared with open-loop control,the 95% setting time is shortened from 40 ms to 3ms while the setting time is 12 ms,10ms by proportional-integral-derivative(PID)control,integral sliding model control(ISMC)respectively.