Adaptive Constrained Control of Unknown Strict Feedback Nonlinear Systems With Dead Zone Input
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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。
Abstract:To tackle the problem of unknown strict feedback nonlinear control systems with dead zone input and pre-assigned tracking control, a novel adaptive tracking control strategy was proposed based on the immune function, the active disturbance rejection control and the pre-assigned funnel constraint. The immune function and the extended state observer were utilized to estimate the unknown information of the control system. Through combination with the Lyapunov function, the funnel control was introduced to design the controller, and guarantee the tracking error within the pre-assigned funnel boundary. The adaptive control law was designed based on the rapid changing rate of the hyperbolic tangent function, and the command wave filter was introduced to avoid repeated differentiation problem in the backstepping method. The stability analysis demonstrates the boundedness of all the closed-loop signals. A simulation example shows the effectiveness of the proposed control strategy.
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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
controller index ${e_{\text{c}}}$ ${e_{{\text{RMS}}}}$ LSMC 0.140 10 0.052 97 proposed method 0.117 80 0.016 75 
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