反推
控制理论(社会学)
控制器(灌溉)
非线性系统
参数统计
李雅普诺夫函数
滤波器(信号处理)
计算机科学
估计员
自适应控制
补偿(心理学)
数学
控制(管理)
人工智能
物理
统计
农学
生物
量子力学
计算机视觉
心理学
精神分析
作者
Xiaowei Yang,Yaowen Ge,Wenxiang Deng,Jianyong Yao
标识
DOI:10.1016/j.jfranklin.2022.02.008
摘要
In this paper, an asymptotic adaptive dynamic surface tracking control strategy is investigated for uncertain full-state constrained nonlinear systems subject to parametric uncertainties and external disturbances. A novel disturbance estimator (DE) is firstly used to compensate for external disturbances. The parametric uncertainties are accordingly handled via a synthesized adaptive law. Then, by using the barrier Lyapunov function (BLF) and dynamic surface control (DSC), an appropriate backstepping design framework employing a novel adaptive-gain nonlinear filter is given, which avoids the “explosion of complexity” and relieves the conservatism of filter gain selection. The theoretical analysis reveals the asymptotic tracking performance is assured with the proposed controller. In the end, some simulation cases demonstrate the validity of the proposed controller.
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