Yang Zunyao, Hou Mengxue, Hou Zhongsheng, Jin Shangtai
IEEE Trans Cybern. 2024 Nov;54(11):6957-6970. doi: 10.1109/TCYB.2024.3431290. Epub 2024 Oct 30.
In this article, a disturbance observer dynamic linearization (DL)-based model-free adaptive control (MFAC) scheme is proposed for discrete-time nonlinear systems with disturbances and uncertainties. The partial-form-dynamic-linearization-based disturbance observer (PDO) is constructed by applying the DL method to an unknown ideal disturbance observer. An adaptive updating algorithm of the observer gain is derived by minimizing a estimation criterion function. Then, the PDO-based MFAC scheme is formed and its bounded stability is rigorously analyzed using the contraction mapping principle. The proposed scheme is a purely data-driven control method, that is, both the PDO and control system are designed by using only the input/output data of underlying system. A numerical simulation and a vehicle turning experiment are given to verify the effectiveness of the proposed scheme.
本文针对存在干扰和不确定性的离散时间非线性系统，提出了一种基于干扰观测器动态线性化（DL）的无模型自适应控制（MFAC）方案。通过将DL方法应用于未知理想干扰观测器，构建了基于部分形式动态线性化的干扰观测器（PDO）。通过最小化一个估计准则函数，推导了观测器增益的自适应更新算法。然后，形成了基于PDO的MFAC方案，并利用压缩映射原理对其有界稳定性进行了严格分析。所提出的方案是一种纯数据驱动的控制方法，即PDO和控制系统均仅利用被控系统的输入/输出数据进行设计。给出了数值仿真和车辆转向实验，以验证所提方案的有效性。
