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具有不确定控制增益严格反馈系统的自适应命令滤波控制

吴锦娃 刘勇华 苏春翌 鲁仁全

吴锦娃, 刘勇华, 苏春翌, 鲁仁全. 具有不确定控制增益严格反馈系统的自适应命令滤波控制. 自动化学报, 2021, 48(x): 1−10 doi: 10.16383/j.aas.c210553
引用本文: 吴锦娃, 刘勇华, 苏春翌, 鲁仁全. 具有不确定控制增益严格反馈系统的自适应命令滤波控制. 自动化学报, 2021, 48(x): 1−10 doi: 10.16383/j.aas.c210553
Wu Jin-Wa, Liu Yong-Hua, Su Chun-Yi, Lu Ren-Quan. Adaptive command filtered control of strict feedback systems with uncertain control gains. Acta Automatica Sinica, 2021, 48(x): 1−10 doi: 10.16383/j.aas.c210553
Citation: Wu Jin-Wa, Liu Yong-Hua, Su Chun-Yi, Lu Ren-Quan. Adaptive command filtered control of strict feedback systems with uncertain control gains. Acta Automatica Sinica, 2021, 48(x): 1−10 doi: 10.16383/j.aas.c210553

具有不确定控制增益严格反馈系统的自适应命令滤波控制

doi: 10.16383/j.aas.c210553
基金项目: 国家自然科学基金 (62173097, 62121004, U2013601, 61803097)和广东省特支计划本土创新创业团队项目(2019BT02X353)资助
详细信息
    作者简介:

    吴锦娃:广东工业大学自动化学院硕士研究生.主要研究方向为自适应控制与智能控制. E-mail: jinwa.wu@outlook.com

    刘勇华:广东工业大学自动化学院副教授. 主要研究方向为非线性控制与智能控制. 本文通信作者. E-mail: yonghua.liu@outlook.com

    苏春翌:广东工业大学自动化学院教授. 主要研究方向为控制理论及其在机电系统中的应用. E-mail: chunyi.su@concordia.ca

    鲁仁全: 广东工业大学自动化学院教授. 主要研究方向为网络化控制系统理论及应用, 医疗大数据分析, 智能制造. E-mail: rqlu@gdut.edu.cn

Adaptive Command Filtered Control of Strict Feedback Systems with Uncertain Control Gains

Funds: Supported by National Natural Science Foundation of China (62173097, 62121004, U2013601, 61803097) and the Local Innovative and Research Teams Project of Guangdong Special Support Program (2019BT02X353)
More Information
    Author Bio:

    WU Jin-Wa Master student at the School of Automation, Guangdong University of Technology. Her research interest covers adaptive control and intelligent control

    LIU Yong-Hua Associate professor at the School of Automation, Guangdong University of Technology. His research interest covers nonlinear and intelligent control. Corresponding author of this paper

    SU Chun-Yi Professor at the School of Automation, Guangdong University of Technology. His research interest covers control theory and its applications to mechanical systems

    LU Ren-Quan Professor at the School of Automation, Guangdong University of Technology. His research interest covers theory and application of networked control system, medical big data analysis, and intelligent manufacturing

  • 摘要: 针对一类具有不确定控制增益的严格反馈系统, 提出了一种基于命令滤波反推技术的自适应神经网络控制方法. 该方法采用神经网络对系统中的未知非线性函数进行逼近, 并引入命令滤波反推技术克服“计算膨胀”的问题. 与现有的命令滤波反推控制文献相比, 本文通过构造自适应误差补偿系统, 同时消除了滤波器产生的边界层误差和不确定控制增益对系统性能造成的影响. 仿真结果验证了所提控制方法的有效性.
  • 图  1  输出信号$y$, 参考信号$y_d$和跟踪误差$e_1$

    Fig.  1  System output $y$, desired trajectory $y_d$ and tracking error $e_1$

    图  4  自适应参数$||\hat{{\boldsymbol{\theta}}}_{g1}||$$||\hat{{\boldsymbol{\theta}}}_{g2}||$

    Fig.  4  Adaptive parameters $||\hat{{\boldsymbol{\theta}}}_{g1}||$ and $||\hat{{\boldsymbol{\theta}}}_{g2}||$

    图  2  控制信号$u$

    Fig.  2  Control signal $u$

    图  3  自适应参数$||\hat{{\boldsymbol{\theta}}}_{f1}||$$||\hat{{\boldsymbol{\theta}}}_{f2}||$

    Fig.  3  Adaptive parameters $||\hat{{\boldsymbol{\theta}}}_{f1}||$ and $||\hat{{\boldsymbol{\theta}}}_{f2}||$

    图  5  基于本文与文献[36]控制方法的跟踪误差$e_1$

    Fig.  5  Tracking errors $e_1$ under the control schemes in this paper and in [36]

    图  6  基于本文与文献[36] 控制方法的控制信号$u$

    Fig.  6  Control signals $u$ under the control schemes in this paper and in [36]

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