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

Abstract

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

CLC Number:

TN273

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

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