School of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China.
School of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China; Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing, China.
ISA Trans. 2019 Dec;95:254-265. doi: 10.1016/j.isatra.2019.05.003. Epub 2019 May 15.
Parametric uncertainty associated with unmodeled disturbance always exist in physical electrical-optical gyro-stabilized platform systems, and poses great challenges to the controller design. Moreover, the existence of actuator deadzone nonlinearity makes the situation more complicated. By constructing a smooth dead-zone inverse, the control law consisting of the robust integral of a neural network (NN) output plus sign of the tracking error feedback is proposed, in which adaptive law is synthesized to handle parametric uncertainty and RISE robust term to attenuate unmodeled disturbance. In order to reduce the measure noise, a desired compensation method is utilized in controller design, in which the model compensation term depends on the reference signal only. By mainly activating an auxiliary robust control component for pulling back the transient escaped from the neural active region, a multi-switching robust neuro adaptive controller in the neural approximation domain, which can achieve globally uniformly ultimately bounded (GUUB) tracking stability of servo systems recently. An asymptotic tracking performance in the presence of unknown dead-zone, parametric uncertainties and various disturbances, which is vital for high accuracy tracking, is achieved by the proposed robust adaptive backstepping controller. Extensively comparative experimental results are obtained to verify the effectiveness of the proposed control strategy.
与未建模干扰相关的参数不确定性始终存在于物理光电陀螺稳定平台系统中,这对控制器设计提出了巨大的挑战。此外,执行器死区非线性的存在使情况更加复杂。通过构建平滑的死区逆,提出了由神经网络(NN)输出的鲁棒积分加上跟踪误差反馈的符号组成的控制律,其中自适应律被综合用于处理参数不确定性和 RISE 鲁棒项以衰减未建模的干扰。为了减少测量噪声,在控制器设计中采用了期望补偿方法,其中模型补偿项仅取决于参考信号。通过主要激活辅助鲁棒控制组件来将瞬态从神经网络活动区域拉回,在神经网络逼近域中提出了一种多切换鲁棒神经自适应控制器,该控制器最近可以实现伺服系统的全局一致最终有界(GUUB)跟踪稳定性。通过所提出的鲁棒自适应反演控制器,可以实现具有未知死区、参数不确定性和各种干扰的渐近跟踪性能,这对于高精度跟踪至关重要。进行了广泛的对比实验以验证所提出的控制策略的有效性。