控制理论与应用2018，Vol.35Issue(2)：153-161,9.DOI:10.7641/CTA.2017.70389
控制方向未知的全状态约束非线性系统的鲁棒自适应跟踪控制
Robust adaptive tracking control for full state-constrained nonlinear systems with unknown control direction
摘要
Abstract
To consider a class of full state-constrained nonlinear systems with completely unknown control coefficients, uncertain time-varying parameters and disturbances, a Barrier Lyapunov function (BLF) based adaptive robust control design method is proposed.BLFs are to ensure that the full state constraints be not violated,the unknown control direction is resolved effectively by the Nussbaum gain function and the boundedness of uncertain time-varying parameters is guaranteed by using the continuous projection algorithm. It is the first time that the BLF,Nussbaum gain function and continuous projection algorithm effectively combine with backstepping adaptive control to solve the tracking control problem for full state-constrained nonlinear system with unknown control direction. As shown as the control result, all the closed loop signals are bounded and full state constraints are not violated. Moreover the system output tracking error will converge to a bounded compact set of zero through select proper parameters.At last,The effectiveness of the proposed control scheme is further verified with a numerical example.关键词
障碍Lyapunov函数/Nussbaum增益控制/未知控制方向/全状态约束/自适应控制Key words
barrier Lyapunov function/Nussbaum gain control/unknown control direction/full state constraints/adap-tive control分类
信息技术与安全科学引用本文复制引用
王春晓,武玉强..控制方向未知的全状态约束非线性系统的鲁棒自适应跟踪控制[J].控制理论与应用,2018,35(2):153-161,9.基金项目
国家自然科学基金项目(61673243,61273091,61303198),山东省泰山学者项目(TS20120529),中国教育部博士后基金项目(20123705110002)资助.Supported by the National Natural Science Foundation of China(61673243,61273091,61303198),the Project of Taishan Scholar of Shandong Province(TS20120529)and the PhD Programs Foundation of Ministry of Education of China(20123705110002). （61673243,61273091,61303198）
