信息与控制2024，Vol.53Issue(6)：774-782,792,10.DOI:10.13976/j.cnki.xk.2023.5022
不确定严格反馈系统的无反步预设性能自适应控制:一种全驱系统方法的设计
Backstepping-free Adaptive Control of Uncertain Strict-feedback Systems with Prescribed Performance:A Fully Actuated System Approach-based Design
摘要
Abstract
We present a backstepping-free adaptive control approach for tracking control of uncertain strict-feedback systems with guaranteed predefined-time prescribed performance.By introducing a novel predefined-time performance function to quantitatively set the constraint boundaries for track-ing error and transforming the original uncertain strict feedback system into a new pseudo high or-der fully actuated(HOFA)system,as well as combining the fully actuated system theory for con-trol design,the proposed method not only successfully achieves an improved prescribed perform-ance control,but also effectively avoids the shortcomings of iterative design based on adaptive backstepping method,simplifying the controller design process.Based on the Lyapunov stability theory,it is proven that all signals in the closed-loop system are uniformly ultimately bounded,the system output can track the reference signal,and the tracking error can be steered into a pre-scribed precision within the pre-specified time.Finally,a direct current motor actuated robotic manipulator is considered to illustrate the effectiveness of the proposed approach.关键词
不确定严格反馈系统/无反步法控制/全驱系统方法/指定时间预设性能Key words
uncertain strict-feedback system/backstepping-free control/fully actuated system approach/predefined-time prescribed performance分类
信息技术与安全科学引用本文复制引用
陈洋,张丹丹,章智凯,张恒..不确定严格反馈系统的无反步预设性能自适应控制:一种全驱系统方法的设计[J].信息与控制,2024,53(6):774-782,792,10.基金项目
国家自然科学基金青年基金项目(62203190) （62203190）
江苏省自然科学基金青年基金项目(BK20210922) （BK20210922）
江苏海洋大学研究生科研实践创新基金项目(KYCX2023-09) （KYCX2023-09）
连云港市博士后基金项目(LYG20220009) （LYG20220009）
