状态和输入受约束的非仿射不确定系统鲁棒自适应控制

doi:10.3969/j.issn.0255-8297.2017.02.012

应用科学学报 ›› 2017, Vol. 35 ›› Issue (2): 257-274.doi: 10.3969/j.issn.0255-8297.2017.02.012

• 控制与系统 • 上一篇

状态和输入受约束的非仿射不确定系统鲁棒自适应控制

陈龙胜, 王琦

南昌航空大学飞行器工程学院, 南昌 330063

收稿日期:2015-12-13 修回日期:2016-07-13 出版日期:2017-03-30 发布日期:2017-03-30
作者简介:陈龙胜,讲师,研究方向:非线性系统控制及应用、飞行控制,E-mail:lschen2008@163.com;王琦,教授,硕导,研究方向:控制理论、飞行器多学科优化设计,E-mail:wangqi439@126.com
基金资助:
国家自然科学基金（No.11462015）；航空科学基金（No.2015ZC560007）；江西省教育厅科学技术研究项目基金（No.GJJ150707）；江西省科技攻关项目基金（No.20151BBE50026）资助

Adaptive Robust Control for Uncertain Non-affine Systems with State and Input Constraints

CHEN Long-sheng, WANG Qi

School of Aircraft Engineering, Nanchang Hangkong University, Nanchang 330063, China

Received:2015-12-13 Revised:2016-07-13 Online:2017-03-30 Published:2017-03-30

摘要/Abstract

摘要：

针对状态和输入均受约束的非仿射不确定系统，提出了一种通用鲁棒自适应反演控制方案.结合系统状态和输入受约束的特性，利用中值定理将非仿射系统转化为具有线性结构的时变系统以获取时变不确定参数的变化区间；基于非线性映射技术将约束量映射至整个实数空间来处理系统的状态受约束问题，以保证状态始终在约束区间内变化.在此基础上，利用参数自适应投影技术对有界不确定时变参数和外界扰动进行在线估计，参数估计误差采用鲁棒反馈控制技术进行补偿；同时采用双曲正切函数和Nussbaum增益技术处理系统输入受约束的问题和可能存在的控制器奇异值问题，结合反步法设计了控制器.最后，根据解耦反推法，基于Lyapunov稳定性定理证明了闭环系统所有信号半全局最终一致有界.仿真结果验证了所设计控制方案的可行性与有效性.

关键词: 状态约束, 输入约束, Nussbaum函数, 非仿射系统, 反步法

Abstract:

Adaptive robust universal back-stepping control is presented for a class of uncertain non-affine systems with state and input constraints. The non-affine system is transformed to a time-varying system with a linear structure using the mean value theorem. The interval of time-varying uncertain parameters is calculated by considering all constraints. To handle the state constraints, a nonlinear mapping technique that maps the constrained states to a real number set is developed. Furthermore, bounded time-varying parameters and external disturbance are estimated using adaptive algorithms with projection. The estimation error is compensated by using a robust feedback technique. The controller is designed by combining back-stepping with a hyperbolic tangent function and a Nussbaum function. It can deal with the problems of input saturation and possible controller singularity caused by unknown control direction. Based on the Lyapunov stability theorem and the decoupled back-stepping method, semi-global stability of the close-loop system is proved. Simulation results show feasibility and validity of the proposed control schemes.

Key words: input constraint, Nussbaum function, non-affine system, state constraint, backstepping

中图分类号:

TN273

陈龙胜, 王琦. 状态和输入受约束的非仿射不确定系统鲁棒自适应控制[J]. 应用科学学报, 2017, 35(2): 257-274.

CHEN Long-sheng, WANG Qi. Adaptive Robust Control for Uncertain Non-affine Systems with State and Input Constraints[J]. Journal of Applied Sciences, 2017, 35(2): 257-274.

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状态和输入受约束的非仿射不确定系统鲁棒自适应控制

Adaptive Robust Control for Uncertain Non-affine Systems with State and Input Constraints

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