控制理论(社会学)
李雅普诺夫函数
Lyapunov重新设计
计算机科学
功能(生物学)
模糊逻辑
自适应控制
控制工程
控制(管理)
工程类
非线性系统
物理
人工智能
量子力学
进化生物学
生物
作者
Hui Zhang,J. Zheng,Xin-Pin Guan,Liqiang Yao
标识
DOI:10.1177/01423312241229971
摘要
This paper is devoted to adaptive trajectory tracking of quadrotor systems with full-state constraints and random disturbances. The command-filtering technology combined with error compensation mechanisms is proposed to deal with the “explosion of complexity” problem in traditional backstepping design and reduction of the filtering errors. The Barrier Lyapunov functions (BLFs) are constructed to ensure that all system states do not violate the boundary of its constraints. The command-filtered adaptive fuzzy controller is designed such that the state constraints are not breached almost surely, all signals in the closed-loop system are bounded almost surely, and the first-order moment of the tracking error converges to an arbitrarily small neighborhood of zero by parameters tuning. Finally, the effectiveness of the proposed control method is illustrated by simulation results.
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