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死区输入下未知严格反馈非线性系统自适应约束控制

宫赤坤 汝青杨 袁立鹏

宫赤坤,汝青杨,袁立鹏. 死区输入下未知严格反馈非线性系统自适应约束控制 [J]. 应用数学和力学,2022,43(12):1402-1411 doi: 10.21656/1000-0887.430081
引用本文: 宫赤坤,汝青杨,袁立鹏. 死区输入下未知严格反馈非线性系统自适应约束控制 [J]. 应用数学和力学,2022,43(12):1402-1411 doi: 10.21656/1000-0887.430081
GONG Chikun, RU Qingyang, YUAN Lipeng. Adaptive Constrained Control of Unknown Strict Feedback Nonlinear Systems With Dead Zone Input[J]. Applied Mathematics and Mechanics, 2022, 43(12): 1402-1411. doi: 10.21656/1000-0887.430081
Citation: GONG Chikun, RU Qingyang, YUAN Lipeng. Adaptive Constrained Control of Unknown Strict Feedback Nonlinear Systems With Dead Zone Input[J]. Applied Mathematics and Mechanics, 2022, 43(12): 1402-1411. doi: 10.21656/1000-0887.430081

死区输入下未知严格反馈非线性系统自适应约束控制

doi: 10.21656/1000-0887.430081
基金项目: 国家重点研发计划(2018YFB2000700)
详细信息
    作者简介:

    宫赤坤(1968—),男,副教授,博士(通讯作者. E-mail:gongchikun@126.com

    汝青杨(1997—),男,硕士生(E-mail:2842325992@qq.com

  • 中图分类号: O175.13

Adaptive Constrained Control of Unknown Strict Feedback Nonlinear Systems With Dead Zone Input

  • 摘要:

    研究了具有死区输入的预设约束未知高阶严格反馈非线性系统的控制问题,提出了一种基于免疫函数的自抗扰预设漏斗约束自适应控制策略。首先,针对系统内部的未知问题,采用免疫函数与扩张状态观测器结合对系统内部未知项进行观测;其次,通过Lyapunov方法与漏斗控制相结合设计控制器,使得跟踪误差能够维持在预先设定的漏斗约束范围内;同时,利用双曲正切函数速率变化快这一特性设计自适应控制律,引入指令滤波器避免反步法中重复求导问题,分析证明了闭环系统所有信号的有界性。仿真实例表明了控制方法的有效性。

  • 图  1  阀控液压缸系统

    Figure  1.  The schematic diagram of the hydraulic servo system

    图  2  跟踪曲线图

    Figure  2.  The tracking curve

    图  3  输出误差曲线图

    Figure  3.  The error curve

    图  4  ${f_2}$${z_{22}}$的曲线

    Figure  4.  Curves of ${f_2}$ and ${z_{22}}$

    图  5  ${f_3}$${z_{32}}$的曲线

    Figure  5.  Curves of ${f_3}$ and ${z_{32}}$

    图  6  加入噪声扰动跟踪曲线图

    Figure  6.  The tracking curve with noise

    图  7  加入噪声扰动输出误差曲线图

    Figure  7.  The error curve with noise

    表  1  两种不同控制器的误差分析

    Table  1.   Error analysis for the control effects of 2 different controllers

    controllerindex
    ${e_{\text{c}}}$${e_{{\text{RMS}}}}$
    LSMC0.140 100.052 97
    proposed method0.117 800.016 75
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-03-14
  • 录用日期:  2022-05-14
  • 修回日期:  2022-04-25
  • 网络出版日期:  2022-11-10
  • 刊出日期:  2022-12-01

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