具有部分不可测量状态的非线性系统自适应跟踪控制
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1.广东工业大学 自动化学院;2.北京起重运输机械设计研究院

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国家自然科学基金资助项目(61673120);国家自然科学基金资助项目(202109242)


Adaptive tracking control for nonlinear systems with partially unavailable states
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1.School of Automation,Guangdong University of Technology;2.Beijing Materials Handling Research Institute Co., Ltd

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    摘要:

    【目的】针对具有部分不可测量状态的非线性系统自适应跟踪控制问题。【方法】首先,提出了新的非线性系统数学模型,由可测量状态子系统与不可测量状态子系统组合而成,两个子系统是相互耦合的。其次,针对系统中存在的未知非线性函数与不确定参数,进行估计处理,得到未知量的估计状态信息。最后,仅利用系统的可测量状态及其它已知有界信息量和估计状态信息合成自适应控制器,由Lyapunov稳定性理论证得,在本文提出的自适应控制器作用下,可测量状态与不可测量状态均能渐近跟踪各自的参考目标。【结果】给出一个仿真实例验证本文提出控制方法的有效性。【结论】在未引入状态观测器估计不可测量状态的条件下,仅利用可测量状态信息合成系统自适应控制器,与基于状态观测器设计的控制器相比,本文提出的控制器控制性能更优。

    Abstract:

    [Purposes]Considering the adaptive tracking control for nonlinear system with partially unavailable states. [Methods] Firstly, this paper proposed a new nonlinear system mathematical model, consisted of available states subsystem and unavailable states subsystem. The two subsystems are coupled with each other. Secondly, The unknown nonlinear functions and uncertain parameter are estimated. The estimated information of unknown variables is obtained. Finally, the adaptive controller only is utilized by the available states and other known bounded information. By the Lyapunov stability theory, it is proved that available states and unavailable states can asymptotically track reference goals respectively, with the operation of adaptive controller synthesized in this paper. [Findings] A simulation example is given to verify the effectiveness of control method proposed in this paper. [Conclusions] Compared with the controller designed based on the state observer, the controller proposed by using only available states in this paper has the better control preference without introducing the state observer to estimate unavailable states.

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  • 收稿日期:2023-04-17
  • 最后修改日期:2023-08-30
  • 录用日期:2024-06-04
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