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

GONG Chikun; RU Qingyang; YUAN Lipeng

doi:10.21656/1000-0887.430081

Volume 43 Issue 12

Dec. 2022

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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

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

doi: 10.21656/1000-0887.430081

1.
School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China
2.
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P.R.China

Received Date: 2022-03-14
Accepted Date: 2022-05-14
Rev Recd Date: 2022-04-25

Available Online: 2022-11-10

Publish Date: 2022-12-01

Abstract

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.
- dead zone input,
- strict feedback system,
- immune function,
- funnel control,
- hyperbolic tangent function

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References(25)

References

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