Research On Compensation Signal Driven Tracking Control For Second Order Systems

The purpose of this paper is to study the compensation signal driven tracking control problem of second-order system.So far,no scholars have systematically studied this problem.Although continuous time systems based on sampling control have been extensively and deeply studied,the calculation and compensation of uncertain factors in the system have not been considered in the existing literature,and the existing theoretical analysis methods cannot be directly used to prove the convergence stability of hybrid closed-loop systems.Based on the existing achievements,the main research achievements are as follows:Aiming at the second order continuous time nonlinear uncertain system in the second order system,the corresponding compensation signal drive controller is designed.Considering the calculation and compensation of uncertainty factors,the stability of the system is proved theoretically by using the iterative learning control theory and by establishing the analytic method based on eigenvalues and sequences,and the boundness of the system is proved.The Matlab numerical simulation experiment of the robot arm model in the laboratory is carried out,and the comparison with proportional integral differential control method(PID)and active disturbance rejection control method(ADRC)proves the effectiveness and superiority of the control method in this chapter.For the second order nonlinear uncertain system with disturbance in the second order nonlinear uncertain system,an external disturbance is added to the undisturbed second order nonlinear uncertain system,and the controller is designed by using the idea of obtaining the truth value of the uncertainty at the last sampling moment to compensate the uncertainty at the current sampling moment.Through a new analysis method based on the iterative sequence and the matrix eigenvalues related to the control system,the boundedness of the system is proved.At the same time,the actual system,the single link manipulator system is selected to carry out Matlab numerical simulation experiments,and compared with the PID and ADRC under different conditions,the effectiveness of the control method in this chapter is proved.Aiming at the second order nonlinear uncertain system in the second order system,a new controller based on the undisturbed second order nonlinear uncertain system controller is designed by using the control method based on the fixed time control theory.The boundedness of the system is calculated by using Lyapunov method,and the stability of the whole system is proved.This method realizes the rapid convergence and stable tracking of the system.The Matlab numerical simulation experiment is carried out on the robot manipulator model in the laboratory,and the comparison is made with the PID,ADRC and compensation signal drive control methods.Finally,the simulation results verify the feasibility of the control strategy in this chapter.