Novel dynamic surface Funnel control for nonlinear systems with input delay

被引：1

作者：

Wang Q.-H. ^{[1
]}

Liu Y. ^{[1
]}

Zhang G.-L. ^{[2
]}

Li H.-Q. ^{[1
]}

Liu H.-S. ^{[1
]}

机构：

[1] School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai

[2] College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, Shandong

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 08期

基金：

中国国家自然科学基金;

关键词：

adaptive control; dynamic surface control; Funnel; input delay; neural network;

D O I：

10.7641/CTA.2022.10924

中图分类号：

学科分类号：

摘要：

This paper proposes a novel dynamic surface Funnel control scheme for a class of uncertain nonlinear systems with input delay. Firstly, a compensation dynamic variables is designed to convert the input delay system into a system without delay, and this compensation is required in the last step of recursion control, which optimizes the controller design. Secondly, a Funnel function is constructed such that the transient and steady-state tracking errors are limited within the given boundary. Finally, a novel nonlinear filter dynamic surface control is proposed, which avoids the“explosion of complexity”problem in adaptive backstepping control, eliminates the boundary layer error, and makes the tracking error of the system asymptotically converge to zero. Theoretical analysis shows that all signals of the closed-loop system are uniformly ultimately bounded, and the simulation results verify the effectiveness of the control scheme. © 2022 South China University of Technology. All rights reserved.

引用

页码：1426 / 1432

页数：6

共 32 条

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