Observer-based Adaptive Controller Design for Nonlinear Saturation Systems With Output Constraints

被引：1
|
作者：
Xing, Ailiang [1 ]
Yang, Yongliang [2 ]
Zhao, Bo [3 ]
Ding, Da-Wei [1 ]
Yin, Yixin [1 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China
[2] Univ Macau, Fac Sci & Technol, State Key Lab Internet Things Smart City, Macau, Peoples R China
[3] Beijing Normal Univ, Sch Syst Sci, Beijing, Peoples R China
来源：
IFAC PAPERSONLINE | 2020年 / 53卷 / 05期
基金：
中国国家自然科学基金;
关键词：
State observer; input saturation; output constraints; Nussbaum function;
D O I：
10.1016/j.ifacol.2021.04.158
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an observer-based adaptive control for uncertain nonlinear systems with input saturation and output constraints. Backstepping technology is used in the controller design. A state observer is established to estimate the unmeasured states. An asymmetric barrier Lyapunov function (BLF) with prescribed performance is constructed to deal with the output constrains. The input saturation is solved by using Nussbaum function-based method. The dynamic surface control (DSC) technique is employed to reduce the complexity of the virtual control. It is illustrated that all the closed-loop signals are semi-global uniformly ultimately bounded (SGUUB). Finally, a simulation example verifies the proposed results. Copyright (C) 2020 The Authors.
引用
收藏
页码：675 / 680
页数：6
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