测试技术学报2025，Vol.39Issue(5)：518-523,6.DOI:10.62756/csjs.1671-7449.2025086
具有不匹配扰动的非线性系统自适应精确跟踪控制
Adaptive Precise Tracking Control for Nonlinear Systems Under Mismatched Disturbances
张晓华 1井超 2穆继亮1
作者信息
- 1. 中北大学 仪器与电子学院,山西 太原 030051
- 2. 中北大学 计算机科学与技术学院,山西 太原 030051
- 折叠
摘要
Abstract
In the presence of mismatched disturbances,an adaptive Precise Tracking Control(PTC)mechanism has been developed for nonlinear strict-feedback systems.Based on this mechanism,the tracking error no longer converges to a small neighborhood around the origin but converges precisely to zero.Simultaneously,the mismatched disturbances and the derivative of the virtual controller are combined into a polynomial,for which an upper bound estimation is conducted and compensated for in the controller design to mitigate the complexity of algorithm design.In this way,once the tracking error deviates from the origin,the corresponding control strategy is activated,forcing it to slide along the origin,thereby achieving PTC.Finally,the stability of the closed-loop system is proven using Lyapunov stability theory,and all signals within the closed-loop system are bounded.Simulation results demonstrate that the tracking error converges precisely to zero,and all signals of the closed-loop system are semi-globally uniformly ultimately bounded.关键词
精确跟踪控制/非线性系统/复合多项式/自适应控制/不匹配扰动Key words
precise tracking control/nonlinear systems/compound polynomials/adaptive control/mis-matched disturbances分类
军事科技引用本文复制引用
张晓华,井超,穆继亮..具有不匹配扰动的非线性系统自适应精确跟踪控制[J].测试技术学报,2025,39(5):518-523,6.
