Abstract
In this paper, an observer-based adaptive prescribed performance tracking control scheme is developed for a class of uncertain multi-input multi-output nonlinear systems with or without input saturation. A novel finite-time neural network disturbance observer is constructed to estimate the system uncertainties and external disturbances. To guarantee the prescribed performance, an error transformation is applied to transfer the time-varying constraints into a constant constraint. Then, by employing a barrier Lyapunov function and the backstepping technique, an observer-based tracking control strategy is presented. It is proven that using the proposed algorithm, all the closed-loop signals are bounded, and the tracking errors satisfy the predefined time-varying performance requirements. Finally, simulation results on a quadrotor system are given to illustrate the effectiveness of the proposed control scheme.
摘要
本文针对一类不确定多输入多输出非线性系统提出一种基于观测器的自适应预设性能跟踪控制策略,同时考虑了系统中可能存在的不确定性。为估计被控系统中的不确定性以及外部扰动,本文构建了一类新颖的有限时间神经网络干扰观测器。此外,为保证系统可以达到预设性能,采用一类误差转换方法,可以将时变约束转换为一种等价的非时变约束。随后,基于障碍李雅普诺夫函数以及反步方法,提出一种基于观测器的跟踪控制策略。经证明,本文所设计的控制方法可以使闭环系统所有信号实现有界,跟踪误差满足预设的时变性能指标。最后,无人机系统数值仿真结果验证了所提控制策略的有效性。
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Xuerao WANG designed the research and drafted the manuscript. Qingling WANG helped organize the manuscript. Xuerao WANG and Changyin SUN revised and finalized the paper.
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Xuerao WANG, Qingling WANG, and Changyin SUN declare that they have no conflict of interest.
Project supported by the National Key R&D Program of China (No. 2018AAA0101400), the National Natural Science Foundation of China (Nos. 61921004 and 61973074), and the Natural Science Foundation of Jiangsu Province, China (No. BK20202006)
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Wang, X., Wang, Q. & Sun, C. Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance. Front Inform Technol Electron Eng 22, 986–1001 (2021). https://doi.org/10.1631/FITEE.2000145
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DOI: https://doi.org/10.1631/FITEE.2000145