文章摘要
郭雅琪, 史丽晨, 王海涛, 蒲林东.输入受限非线性系统的自适应零误差跟踪控制[J].空军工程大学学报:自然科学版,2022,23(3):103-110
输入受限非线性系统的自适应零误差跟踪控制
An Adaptive Zero Error Tracking Control for Nonlinear Systems with Input Constraints
  
DOI:
中文关键词: 输入限制  自适应控制  零误差跟踪控制  反步控制
英文关键词: input constraints  adaptive control  zero error tracking control  back stepping control
基金项目:陕西省重点研发计划(2020GY-104)
作者单位
郭雅琪, 史丽晨, 王海涛, 蒲林东 西安建筑科技大学机械动力理论及应用研究所西安,710055 
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中文摘要:
      针对非线性系统面临的不确定动态、未知外部扰动和输入受限问题,提出了一种考虑输入饱和的零误差跟踪控制器。首先将系统的未建模动态和外部扰动综合为有界的“总扰动项”,进而设计控制律和自适应律补偿这一扰动项,使跟踪误差渐进收敛至零而不仅仅收敛至有界的紧集内。相比于传统的考虑不确定动态和外部扰动的非线性控制方法,所提控制方法的控制器结构更加简单,跟踪精度更高。此外,通过设计辅助误差补偿系统,使得控制器能较好地应对输入饱和情形,在饱和情形消失后,补偿信号能够渐进收敛至零。最后,通过仿真验证了所提方法的有效性。
英文摘要:
      Aimed at the problems that nonlinear systems are confronted with uncertain dynamics, unknown external disturbances and input constrains, an asymptotic tracking controller considering input saturation is proposed. Firstly, the uncertain dynamics and external disturbances in the system are integrated into the bounded "total disturbance term". Then, the control law and the adaptive law are designed to compensate the disturbance term to make the tracking error asymptotically converge to zero rather than just a bounded compact set. Compared with the traditional control method of nonlinear systems considering uncertain dynamics and external disturbance, the proposed controller is simpler in structure and the proposed method is good in precision. In addition, by designing an auxiliary error compensation system, the controller can cope with the input saturation situation well, and the compensation signal can converge to zero asymptotically after the saturation condition is removed. Finally, the proposed method is valid.
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