控制理论(社会学)
李雅普诺夫函数
控制Lyapunov函数
非线性系统
控制器(灌溉)
自适应控制
人工神经网络
约束(计算机辅助设计)
国家(计算机科学)
计算机科学
Lyapunov重新设计
集合(抽象数据类型)
功能(生物学)
控制(管理)
数学
数学优化
人工智能
算法
程序设计语言
进化生物学
物理
生物
几何学
量子力学
农学
作者
Jie Zhang,Wanyue Jiang,Shuzhi Sam Ge
标识
DOI:10.23919/ascc56756.2022.9828219
摘要
This paper addresses the control problem of uncertain nonlinear systems with full state constraints and unknown control direction. In the system, different orders of system states are required to remain in their predefined set. Conventional Barrier Lypunov Functions are designed based on error dynamics and have certain limitations, whereas the introduced Integral Barrier Lyapunov Function is designed directly on the state constraint. In order to deal with the unknown control direction problem, the Nussbaum function based technique is adopted and an adaptive controller is proposed. Moreover, a neural network is constructed to estimate the uncertainties in the system. Integrating the integral barrier Lypunov function, the Nussbaum technique, and the neural network, the proposed method is able to stabilize the system without violating the state constraints. Rigorous mathematical analysis is presented to verify the controller. Finally, a simulation example illustrates the effectiveness of the proposed control method.
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