一类多参数不确定非线性级联系统的自适应稳定控制

兰州理工大学学报 ›› 2023, Vol. 49 ›› Issue (6): 145-153.

一类多参数不确定非线性级联系统的自适应稳定控制

何秋锦¹, 张健^*2

1.广州城市理工学院计算机工程学院, 广东广州 510800;
2.郑州大学数学与统计学院, 河南郑州 450001

收稿日期:2023-05-22 出版日期:2023-12-28 发布日期:2024-01-05
通讯作者: 张健(1981-),男,河南灵宝人,博士,副教授.Email:zhangjian@zzu.edu.cn
基金资助:
国家自然科学基金(11971444),广州市科信局基础及应用研究专项资金(202002030228)

Adaptive stability control for a class of nonlinear multi-parameters uncertain cascade systems

HE Qiu-jin¹, ZHANG Jian²

1. School of Computer Engineering,Guangzhou City University of Technology, Guangzhou 510800, China;
2. School of Mathematics and Statistics, Zhengzhou University, Zhengzhou 450001, China

Received:2023-05-22 Online:2023-12-28 Published:2024-01-05

摘要/Abstract

摘要： 针对一类多参数不确定非线性级联系统,在系统具有由未知向量刻画的多参数化不确定性、执行器故障和全状态受限约束条件下,研究其自适应状态反馈稳定控制问题.通过构造合适的障碍Lyapunov函数,结合Backstepping迭代设计方法和基于投影算子的自适应设计技巧,成功地给出系统的自适应状态反馈控制设计策略,并证明所设计控制器可保证闭环系统所有状态有界,原系统状态满足指定的约束条件且渐近收敛到原点.构建两个仿真算例验证理论结果的正确性和有效性.

关键词: 非线性级联系统, 全状态受限, 执行器故障, 自适应控制, 渐近收敛

Abstract: This paper studies the adaptive state feedback stability control problem for a class of nonlinear multi-parameters uncertain cascade systems that suffer the multi-parametric uncertainty represented by unknown vectors, actuator failure, and full-state constrained conditions. By constructing appropriate barrier Lyapunov function and employing a combination of Backstepping iterative design methodology and adaptive techniques based on projection operators, an adaptive state feedback control design scheme is successfully constructed. The designed controller is proven to guarantee that all the closed-loop system states are bounded, and the original system states not only meet the specified constrained conditions but also asymptotically converge to the origin. The correctness and validity of the obtained theory results are verified by two simulation examples.

Key words: nonlinear cascade system, full-state constraint, actuator failure, adaptive control, asymptotical convergence

中图分类号:

O232

何秋锦, 张健. 一类多参数不确定非线性级联系统的自适应稳定控制[J]. 兰州理工大学学报, 2023, 49(6): 145-153.

HE Qiu-jin, ZHANG Jian. Adaptive stability control for a class of nonlinear multi-parameters uncertain cascade systems[J]. Journal of Lanzhou University of Technology, 2023, 49(6): 145-153.

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