具有积分输入状态稳定性逆动力学的非完整链式系统的自适应输出反馈控制
Adaptive Output Feedback Control for Nonholonomic Chained Systems with Integral Input State Stability Inverse Dynamics.
作者信息
Li Yang, Xu Linxing, Wang Xiuli, Wang Cunsong
机构信息
Shanghai Key Laboratory of Power Station Automation Technology, Shanghai University, Shanghai 200444, China.
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China.
出版信息
Sensors (Basel). 2023 Jul 13;23(14):6351. doi: 10.3390/s23146351.
This paper investigates a class of nonholonomic chained systems with integral input-to-state stable (iISS) inverse dynamics subject to unknown virtual control directions and parameter uncertainty included in drift terms. First, the system is divided into two interconnected subsystems according to the system's structure. Second, one controller is designed using a switch strategy for state finite escape. Then, another controller and adaptive law are designed by combining a reduced-order state observer and backstepping method after input-state scaling. Finally, simulation results validate the feasibility of the proposed control algorithm.
本文研究了一类具有积分输入到状态稳定（iISS）逆动力学的非完整链式系统，该系统存在未知的虚拟控制方向以及漂移项中包含的参数不确定性。首先，根据系统结构将其划分为两个相互连接的子系统。其次，设计了一种使用切换策略来避免状态有限逃逸的控制器。然后，在进行输入-状态尺度变换后，通过结合降阶状态观测器和反步法设计了另一个控制器及自适应律。最后，仿真结果验证了所提出控制算法的可行性。
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