Zheng Xiaolong, Yu Xinghu, Yang Xuebo, Rodriguez-Andina Juan J
IEEE Trans Cybern. 2024 May;54(5):3017-3029. doi: 10.1109/TCYB.2023.3323664. Epub 2024 Apr 16.
In this article, a practical finite-time command-filtered adaptive backstepping (PFTCFAB) control method is presented for a class of uncertain nonlinear systems with nonparametric unknown nonlinearities and external disturbances. Unlike PFTCFAB control techniques that use neural networks (NNs) or fuzzy-logic systems (FLSs) to deal with system uncertainties, the proposed method is capable of handling such uncertainties without the need for NNs or FLSs, thus reducing complexity and increasing reliability. In the proposed approach, novel function adaptive laws are designed to directly estimate unknown nonparametric nonlinearities and external disturbances by means of command filter techniques, and a type of practical finite-time command filters is proposed to obtain such laws. Moreover, the PFTCFAB controllers and finite-time command filters are designed with practical finite-time Lyapunov stability, which ensures finite-time stability of system tracking and filter estimation errors. Experimental results with a quadrotor hover system are presented and discussed to demonstrate the advantages and effectiveness of the proposed control strategy.
本文针对一类具有非参数未知非线性和外部干扰的不确定非线性系统，提出了一种实用的有限时间指令滤波自适应反步（PFTCFAB）控制方法。与使用神经网络（NNs）或模糊逻辑系统（FLSs）来处理系统不确定性的PFTCFAB控制技术不同，所提出的方法能够在无需NNs或FLSs的情况下处理此类不确定性，从而降低复杂度并提高可靠性。在所提出的方法中，设计了新颖的函数自适应律，通过指令滤波技术直接估计未知的非参数非线性和外部干扰，并提出了一种实用的有限时间指令滤波器来获得此类律。此外，PFTCFAB控制器和有限时间指令滤波器是基于实用的有限时间李雅普诺夫稳定性设计的，这确保了系统跟踪和滤波器估计误差的有限时间稳定性。给出并讨论了四旋翼悬停系统的实验结果，以证明所提出控制策略的优点和有效性。
