论文标题
渐近跟踪控制不确定的MIMO非线性系统具有较低保守性可控性条件的控制
Asymptotic Tracking Control of Uncertain MIMO Nonlinear Systems with Less Conservative Controllability Conditions
论文作者
论文摘要
对于不确定的多个输入多输出（MIMO）非线性系统，实现渐近跟踪是不平凡的，并且大多数现有方法通常需要某些可控性条件，如果涉及出乎意料的执行器，这些条件是相当限制性的，甚至是不切实际的。在本说明中，我们提出了一种能够以较不保守（更实用）的可控性条件来实现零误差稳态跟踪的方法。通过将新颖的Nussbaum增益技术和一些积极的整合功能纳入控制设计，我们为系统开发了强大的自适应渐近跟踪控制方案，随着时变的控制增益未知其幅度和方向。通过诉诸于某些可行的辅助矩阵的存在，进一步放松了当前的最新可控性条件，从而扩大了可以在拟议的控制方案中考虑的系统类别。确保所有闭环信号在全球范围内最终均匀界定。此外，这种控制方法进一步扩展到涉及间歇性执行器断层以及适用于机器人系统的情况。最后，进行了模拟研究以证明该方法的有效性和灵活性。
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even impractical if unexpected actuator faults are involved. In this note, we present a method capable of achieving zero-error steady-state tracking with less conservative (more practical) controllability condition. By incorporating a novel Nussbaum gain technique and some positive integrable function into the control design, we develop a robust adaptive asymptotic tracking control scheme for the system with time-varying control gain being unknown its magnitude and direction. By resorting to the existence of some feasible auxiliary matrix, the current state-of-art controllability condition is further relaxed, which enlarges the class of systems that can be considered in the proposed control scheme. All the closed-loop signals are ensured to be globally ultimately uniformly bounded. Moreover, such control methodology is further extended to the case involving intermittent actuator faults, with application to robotic systems. Finally, simulation studies are carried out to demonstrate the effectiveness and flexibility of this method.
