Li Jian, Du Jialu
Marine Electrical Engineering College, Dalian Maritime University, Dalian, Liaoning, 116026, China.
Marine Electrical Engineering College, Dalian Maritime University, Dalian, Liaoning, 116026, China.
ISA Trans. 2020 Jan;96:14-23. doi: 10.1016/j.isatra.2019.06.021. Epub 2019 Jul 2.
In this paper, we develop an adaptive disturbance cancellation tracking control strategy with the asymptotically converging output tracking errors for a class of multi-input and multi-output (MIMO) nonlinear Euler-Lagrange systems with unknown time-varying disturbances under input saturation. The unknown time-varying disturbances are firstly described as the outputs of a multivariate linear unknown exosystem with unavailable regressor and regression parameter. To estimate the unavailable regressor, an observer is constructed, such that the disturbance cancellation is converted to an adaptive control problem. An auxiliary dynamic system (ADS) is employed to mitigate the effect of the input saturation. Then, a robust adaptive tracking control law is proposed incorporating the above and a robustifying term into the adaptive vectorial backstepping design tool. It is proven theoretically that the asymptotic convergence of the output tracking errors of Euler-Lagrange systems is achieved, while the uniform ultimate boundedness of the remaining signals of the resulting closed-loop control system is guaranteed. Simulation and comparison results on a two-link rigid manipulator and a scale model ship are presented to illustrate the effectiveness and the superiority of the proposed control scheme.
在本文中，我们针对一类具有输入饱和且带有未知时变干扰的多输入多输出（MIMO）非线性欧拉 - 拉格朗日系统，开发了一种具有渐近收敛输出跟踪误差的自适应干扰消除跟踪控制策略。首先，将未知时变干扰描述为具有不可用回归器和回归参数的多变量线性未知外系统的输出。为了估计不可用回归器，构建了一个观测器，从而将干扰消除转化为一个自适应控制问题。采用辅助动态系统（ADS）来减轻输入饱和的影响。然后，将上述内容与一个鲁棒项相结合，纳入自适应矢量反步设计工具中，提出了一种鲁棒自适应跟踪控制律。从理论上证明了实现了欧拉 - 拉格朗日系统输出跟踪误差的渐近收敛，同时保证了所得闭环控制系统其余信号的一致最终有界性。给出了在两连杆刚性机械手和比例模型船舶上的仿真及比较结果，以说明所提出控制方案的有效性和优越性。
