Liu Hongshuai, Cheng Qiang, Xiao Jichun, Hao Lina
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China.
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China.
ISA Trans. 2022 Sep;128(Pt B):624-632. doi: 10.1016/j.isatra.2021.11.034. Epub 2021 Dec 10.
This paper focuses on the data-driven adaptive control problem of the shape memory alloy (SMA) actuators subject to uncertainties, input saturation and prescribed performance. Firstly, the uncertainties estimation method, anti-windup technology, and prescribed performance function are introduced to deal with uncertain nonlinearity, input constraint, and prespecified performance, respectively. Meanwhile, a general approach about designing asymmetrical convergence bound is presented to increase the flexibility of creating convergence area. Secondly, taking uncertainties, input saturation, and asymmetrical convergence bound into consideration, we design an integral terminal sliding mode controller to guarantee the prescribed tracking accuracy without using the knowledge of the SMA actuators model. Further, the stability of the controller and the boundedness of the convergence error are proved by rigorous theoretical analysis. Finally, the success and superiority of our controller are verified by the SMA actuator experiments.
本文聚焦于形状记忆合金（SMA）驱动器在存在不确定性、输入饱和及规定性能情况下的数据驱动自适应控制问题。首先，分别引入不确定性估计方法、抗饱和技术和规定性能函数来处理不确定非线性、输入约束和预先指定的性能。同时，提出一种设计非对称收敛界的通用方法，以增加创建收敛区域的灵活性。其次，考虑不确定性、输入饱和及非对称收敛界，设计了一种积分终端滑模控制器，无需SMA驱动器模型知识即可保证规定的跟踪精度。此外，通过严格的理论分析证明了控制器的稳定性和收敛误差的有界性。最后，通过SMA驱动器实验验证了所提控制器的成功性和优越性。
