A Novel Adaptive Controller for Nonlinear Stochastic Systems With Uncertain Virtual Control Gains and Input Nonlinearities

被引：4
|
作者：
Sun, Yulong [1 ]
Liu, Cungen [1 ]
Wang, Huanqing [2 ]
Li, Chengdong [1 ]
Zhou, Yucheng [1 ]
机构：
[1] Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Peoples R China
[2] Bohai Univ, Dept Math, Jinzhou 121010, Peoples R China
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2023年 / 53卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Adaptive nonlinear controller; nonlinear input; stochastic system; virtual control gain; TIME-DELAY SYSTEMS; OUTPUT-FEEDBACK CONTROL; DYNAMIC SURFACE CONTROL; TRACKING CONTROL; NEURAL-CONTROL; MECHANICAL SYSTEMS; VARYING DELAY; STABILIZATION; SATURATION;
D O I：
10.1109/TSMC.2023.3298923
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, an adaptive nonlinear controller is developed for a class of stochastic systems, whose inputs are uncertainly nonlinear and virtual control gains (simplified as VCGs) include unknown and known items. A novel auxiliary function of boundedness and smoothness is constructed for handling the unknown items of VCGs. Aiming at the challenges of control laws without enough differentiability and uncertainties caused by deadzone and saturation of inputs, the novel control signals are proposed, which are tested on a nonsmooth system, SISO robot and MIMO quadrotor. The superiority and effectiveness of the designed control strategy are proved via the strict stability analysis and simulation comparisons.
引用
收藏
页码：7595 / 7607
页数：13
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