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CLC number: TP273

On-line Access: 2021-07-20

Received: 2020-04-03

Revision Accepted: 2020-10-15

Crosschecked: 2021-06-08

Cited: 0

Clicked: 3698

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Xuerao Wang

https://orcid.org/0000-0002-5693-7527

Changyin Sun

https://orcid.org/0000-0001-9269-334X

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Frontiers of Information Technology & Electronic Engineering  2021 Vol.22 No.7 P.986-1001

http://doi.org/10.1631/FITEE.2000145


Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance


Author(s):  Xuerao Wang, Qingling Wang, Changyin Sun

Affiliation(s):  School of Automation, Southeast University, Nanjing 210096, China; more

Corresponding email(s):   wangxuerao@seu.edu.cn, qlwang@seu.edu.cn, cysun@seu.edu.cn

Key Words:  Adaptive tracking control, Prescribed performance, Input saturation, Disturbance observer, Neural network


Xuerao Wang, Qingling Wang, Changyin Sun. Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(7): 986-1001.

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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.

带有预设性能的高阶多输入多输出非线性系统自适应跟踪控制

王雪娆1,2,王庆领1,2,孙长银1,2
1东南大学自动化学院,中国南京市,210096
2东南大学复杂工程系统测量与控制教育部重点实验室,中国南京市,210096
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。

关键词:自适应跟踪控制;预设性能;输入饱和;干扰观测器;神经网络

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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