带输入饱和的不确定非线性系统自适应模糊触发式补偿控制
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作者单位:

广东工业大学

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中图分类号:

TP273

基金项目:

中山市重大科技专项(191021082628279), 广东省自然科学基金项目(2016A030312013), 广东省基础与应用基础研究基金项目(2019A1515110995), 广州市科技计划项目(202002030286)


Adaptive Fuzzy Trigger Compensation Control for Uncertain Nonlinear System with Input Saturation
Author:
Affiliation:

Guangdong University of Technlogy

Fund Project:

Major Science and Technology Projects of Zhongshan (No. 191021082628279) , Guangdong Provincial Natural Science Foundation Project(No. 2016A030312013), Guangdong Province Basic and Applied Basic Research Fund Project(No. 2019A1515110995), Guangzhou Science and Technology Planning Project (NO. 202002030286)

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    摘要:

    针对一类带有输入饱和特性的不确定非线性系统, 为了在保证系统跟踪性能的同时最大限度节省系统通讯资源, 结合 Backstepping 技术, 本文提出了一种自适应模糊触发式补偿控制方法. 由于安全需求或者物理限制等因素, 输入饱和特性往往不可避免地存在于实际物理系统中, 给系统的控制性能和稳定性造成不利影响. 为有效解决该问题, 光滑的双曲正切函数被融入到自适应控制设计过程中, 以实现对系统输入饱和约束的补偿. 此外, 实际系统模型难以精确建立, 系统描述中难免会存在未知不确定部分. 本文将利用模糊逻辑系统对系统的未知不确定部分进行逼近处理. 在上述基础上, 为节省系统的通讯资源, 引入一种基于相对阈值的事件触发控制策略, 以减小系统传输压力. 通过Lyapunov 稳定性理论分析, 系统的所有信号都是半全局一致最终有界的. 仿真结果验证了所提方法的有效性.

    Abstract:

    In order to guarantee the system tracking performance as well as economize system communication resources effectively, an adaptive fuzzy trigger compensation control is investigated for the uncertain nonlinear systems with input saturation based on Backstepping technology. Due to factors such as security requirements or physical limitations, the phenomenon of input saturation often unavoidably exists in the practical physical system, which adversely affects the control performance and stability of the system. Aiming to effectively solve this problem, a smooth hyperbolic tangent function is integrated into the adaptive control design process to realize the compensation of the system input saturation constraint. In addition, the practical system model is often difficult to establish accurately and unknown uncertain parts will inevitably exist in the system description. Fuzzy Logic Systems (FLSs) will be applied to approach the unknown and uncertain parts of the system. Based on the above, aiming to economize the communication resources, an event-triggered control strategy based on relative threshold is introduced to reduce the transmission pressure of the considered system. Through the theoretical analysis of Lyapunov stability, all signals of the system are semi-globally consistent and ultimately bounded. Simulation results verify the effectiveness of the proposed method.

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  • 收稿日期:2020-07-06
  • 最后修改日期:2020-09-22
  • 录用日期:2020-09-25
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